Many neurological and musculoskeletal diseases impair movement, which limits people's function and social participation. Quantitative assessment of motion is critical to medical decision-making but ...is currently possible only with expensive motion capture systems and highly trained personnel. Here, we present a method for predicting clinically relevant motion parameters from an ordinary video of a patient. Our machine learning models predict parameters include walking speed (r = 0.73), cadence (r = 0.79), knee flexion angle at maximum extension (r = 0.83), and Gait Deviation Index (GDI), a comprehensive metric of gait impairment (r = 0.75). These correlation values approach the theoretical limits for accuracy imposed by natural variability in these metrics within our patient population. Our methods for quantifying gait pathology with commodity cameras increase access to quantitative motion analysis in clinics and at home and enable researchers to conduct large-scale studies of neurological and musculoskeletal disorders.
Predictive simulation is a powerful approach for analyzing human locomotion. Unlike techniques that track experimental data, predictive simulations synthesize gaits by minimizing a high-level ...objective such as metabolic energy expenditure while satisfying task requirements like achieving a target velocity. The fidelity of predictive gait simulations has only been systematically evaluated for locomotion data on flat ground. In this study, we construct a predictive simulation framework based on energy minimization and use it to generate normal walking, along with walking with a range of carried loads and up a range of inclines. The simulation is muscle-driven and includes controllers based on muscle force and stretch reflexes and contact state of the legs. We demonstrate how human-like locomotor strategies emerge from adapting the model to a range of environmental changes. Our simulation dynamics not only show good agreement with experimental data for normal walking on flat ground (92% of joint angle trajectories and 78% of joint torque trajectories lie within 1 standard deviation of experimental data), but also reproduce many of the salient changes in joint angles, joint moments, muscle coordination, and metabolic energy expenditure observed in experimental studies of loaded and inclined walking.
Tools have been used for millions of years to augment the capabilities of the human body, allowing us to accomplish tasks that would otherwise be difficult or impossible. Powered exoskeletons and ...other assistive devices are sophisticated modern tools that have restored bipedal locomotion in individuals with paraplegia and have endowed unimpaired individuals with superhuman strength. Despite these successes, designing assistive devices that reduce energy consumption during running remains a substantial challenge, in part because these devices disrupt the dynamics of a complex, finely tuned biological system. Furthermore, designers have hitherto relied primarily on experiments, which cannot report muscle-level energy consumption and are fraught with practical challenges. In this study, we use OpenSim to generate muscle-driven simulations of 10 human subjects running at 2 and 5 m/s. We then add ideal, massless assistive devices to our simulations and examine the predicted changes in muscle recruitment patterns and metabolic power consumption. Our simulations suggest that an assistive device should not necessarily apply the net joint moment generated by muscles during unassisted running, and an assistive device can reduce the activity of muscles that do not cross the assisted joint. Our results corroborate and suggest biomechanical explanations for similar effects observed by experimentalists, and can be used to form hypotheses for future experimental studies. The models, simulations, and software used in this study are freely available at simtk.org and can provide insight into assistive device design that complements experimental approaches.
Abstract Muscles actuate running by developing forces that propel the body forward while supporting the body’s weight. To understand how muscles contribute to propulsion (i.e., forward acceleration ...of the mass center) and support (i.e., upward acceleration of the mass center) during running we developed a three-dimensional muscle-actuated simulation of the running gait cycle. The simulation is driven by 92 musculotendon actuators of the lower extremities and torso and includes the dynamics of arm motion. We analyzed the simulation to determine how each muscle contributed to the acceleration of the body mass center. During the early part of the stance phase, the quadriceps muscle group was the largest contributor to braking (i.e., backward acceleration of the mass center) and support. During the second half of the stance phase, the soleus and gastrocnemius muscles were the greatest contributors to propulsion and support. The arms did not contribute substantially to either propulsion or support, generating less than 1% of the peak mass center acceleration. However, the arms effectively counterbalanced the vertical angular momentum of the lower extremities. Our analysis reveals that the quadriceps and plantarflexors are the major contributors to acceleration of the body mass center during running.
We present a technique for automatically synthesizing walking and running controllers for physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of-freedom are ...actuated using a set of eight Hill-type musculotendon models in each leg, with biologically-motivated control laws. The parameters of these control laws are set by an optimization procedure that satisfies a number of locomotion task terms while minimizing a biological model of metabolic energy expenditure. We show that the use of biologically-based actuators and objectives measurably increases the realism of gaits generated by locomotion controllers that operate without the use of motion capture data, and that metabolic energy expenditure provides a simple and unifying measurement of effort that can be used for both walking and running control optimization.
Subject-specific musculoskeletal modeling can be applied to study musculoskeletal disorders, allowing inclusion of personalized anatomy and properties. Independent of the tools used for model ...creation, there are unavoidable uncertainties associated with parameter identification, whose effect on model predictions is still not fully understood. The aim of the present study was to analyze the sensitivity of subject-specific model predictions (i.e., joint angles, joint moments, muscle and joint contact forces) during walking to the uncertainties in the identification of body landmark positions, maximum muscle tension and musculotendon geometry. To this aim, we created an MRI-based musculoskeletal model of the lower limbs, defined as a 7-segment, 10-degree-of-freedom articulated linkage, actuated by 84 musculotendon units. We then performed a Monte-Carlo probabilistic analysis perturbing model parameters according to their uncertainty, and solving a typical inverse dynamics and static optimization problem using 500 models that included the different sets of perturbed variable values. Model creation and gait simulations were performed by using freely available software that we developed to standardize the process of model creation, integrate with OpenSim and create probabilistic simulations of movement. The uncertainties in input variables had a moderate effect on model predictions, as muscle and joint contact forces showed maximum standard deviation of 0.3 times body-weight and maximum range of 2.1 times body-weight. In addition, the output variables significantly correlated with few input variables (up to 7 out of 312) across the gait cycle, including the geometry definition of larger muscles and the maximum muscle tension in limited gait portions. Although we found subject-specific models not markedly sensitive to parameter identification, researchers should be aware of the model precision in relation to the intended application. In fact, force predictions could be affected by an uncertainty in the same order of magnitude of its value, although this condition has low probability to occur.
Pain thresholds are, in part, set as a function of emotional and internal states by descending modulation of nociceptive transmission in the spinal cord. Neurons of the rostral ventromedial medulla ...(RVM) are thought to critically contribute to this process; however, the neural circuits and synaptic mechanisms by which distinct populations of RVM neurons facilitate or diminish pain remain elusive. Here we used in vivo opto/chemogenetic manipulations and trans-synaptic tracing of genetically identified dorsal horn and RVM neurons to uncover an RVM-spinal cord-primary afferent circuit controlling pain thresholds. Unexpectedly, we found that RVM GABAergic neurons facilitate mechanical pain by inhibiting dorsal horn enkephalinergic/GABAergic interneurons. We further demonstrate that these interneurons gate sensory inputs and control pain through temporally coordinated enkephalin- and GABA-mediated presynaptic inhibition of somatosensory neurons. Our results uncover a descending disynaptic inhibitory circuit that facilitates mechanical pain, is engaged during stress, and could be targeted to establish higher pain thresholds.
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•Primary afferents and descending pain pathways project onto spinal Penk+ neurons•A population of GABA+ RVM neurons control spinal Penk+ neurons and mechanical pain•Together, spinal enkephalins and GABA presynaptically modulate mechanonociception•Brain regions processing stress recruit this RVM/spinal/primary afferent circuit
François et al. identified a neural circuit that controls mechanical pain thresholds. They demonstrated that GABAergic brainstem neurons regulate the release of the endogenous opioid enkephalin in the spinal cord to modulate inputs from sensory pain fibers.
Objective: Analyzing human motion is essential for diagnosing movement disorders and guiding rehabilitation for conditions like osteoarthritis, stroke, and Parkinson's disease. Optical motion capture ...systems are the standard for estimating kinematics, but the equipment is expensive and requires a predefined space. While wearable sensor systems can estimate kinematics in any environment, existing systems are generally less accurate than optical motion capture. Many wearable sensor systems require a computer in close proximity and use proprietary software, limiting experimental reproducibility. Methods: Here, we present OpenSenseRT, an open-source and wearable system that estimates upper and lower extremity kinematics in real time by using inertial measurement units and a portable microcontroller. Results: We compared the OpenSenseRT system to optical motion capture and found an average RMSE of 4.4 degrees across 5 lower-limb joint angles during three minutes of walking and an average RMSE of 5.6 degrees across 8 upper extremity joint angles during a Fugl-Meyer task. The open-source software and hardware are scalable, tracking 1 to 14 body segments, with one sensor per segment. A musculoskeletal model and inverse kinematics solver estimate Kinematics in real-time. The computation frequency depends on the number of tracked segments, but is sufficient for real-time measurement for many tasks of interest; for example, the system can track 7 segments at 30 Hz in real-time. The system uses off-the-shelf parts costing approximately 100 USD plus 20 for each tracked segment. Significance: The OpenSenseRT system is validated against optical motion capture, low-cost, and simple to replicate, enabling movement analysis in clinics, homes, and free-living settings
Traditional laboratory experiments, rehabilitation clinics, and wearable sensors offer biomechanists a wealth of data on healthy and pathological movement. To harness the power of these data and make ...research more efficient, modern machine learning techniques are starting to complement traditional statistical tools. This survey summarizes the current usage of machine learning methods in human movement biomechanics and highlights best practices that will enable critical evaluation of the literature. We carried out a PubMed/Medline database search for original research articles that used machine learning to study movement biomechanics in patients with musculoskeletal and neuromuscular diseases. Most studies that met our inclusion criteria focused on classifying pathological movement, predicting risk of developing a disease, estimating the effect of an intervention, or automatically recognizing activities to facilitate out-of-clinic patient monitoring. We found that research studies build and evaluate models inconsistently, which motivated our discussion of best practices. We provide recommendations for training and evaluating machine learning models and discuss the potential of several underutilized approaches, such as deep learning, to generate new knowledge about human movement. We believe that cross-training biomechanists in data science and a cultural shift toward sharing of data and tools are essential to maximize the impact of biomechanics research.
Highlights • We surveyed the literature for clinical applications of wearable systems. • Wearable sensing can identify movement disorders and assess surgical outcomes. • Wearable feedback can improve ...walking stability and reduce joint loading. • Future work should implement in natural environments such as home or work.
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