Académique Documents
Professionnel Documents
Culture Documents
I. INTRODUCTION
Balance of the human multi-segmental system is
maintained by an integrated network, controlled by the
central nervous system (CNS). The system consists of
visual, vestibular and somatosensory inputs [1], used to
maintain the equilibrium of the bodys center of mass
(COM) in relation to its base of support. When the COM is
projected outside the base of support and does not have the
required momentum, in the appropriate direction, to re-enter
the base of support area, instability occurs. Thus, the
trajectory of the COM provides us with a measure of
stability and is a primary output of the control system.
Although there exists variability [2] in which
equilibrium is maintained, postural strategies or patterns
emerge [1,3,4]. During quiet stance, an ankle strategy is
generally adopted [5]. As the frequency of oscillation
becomes larger, the velocity of the COM increases.
Therefore larger and quicker movements are required to
maintain the COM within the base of support. Thus a hip
strategy emerges, in which the body can be modeled as a
two-segment inverted pendulum consisting of the trunk and
limbs [1,3,4].
Models have been developed to predict state estimates
during quiet stance using optimal estimation control theory,
which attempts to optimize the systems state vectors based
on a cost function for a single-segment [6] and a threesegment model [7]. However, these systems can not be
practically applied to a clinical situation as the data
collection equipment is expensive and not portable, and the
models are fit to specific subjects.
Current movement trajectories are collected using
motion detection systems and force plates. The equipment is
II. M ETHODOLOGY
Two healthy subjects, a male aged 39 and a female aged
27, volunteered and gave informed consent. Ethics approval
was granted prior to recruiting subjects by The University of
Manitoba, Faculty of Medicine, Ethics Committee.
A. Experimental Setup
An AMTI force plate, model OR-6, was used to obtain
forces and moments in the sagittal, frontal and vertical
planes. This data was then calibrated and the center of
pressure (COP) in the frontal and sagittal planes were
calculated. Two ADXL202EB accelerometers (Analog
Devices) were affixed to the subject; one representing the
trunk segment placed on the neck, and the second
representing limb segment placed on the shank below the
knee joint. The sway in the AP and ML planes were
recorded by each accelerometer. The sway signals were
filtered using a 2nd order Butterworth bandpass filter, with
cutoff frequencies of 0.01 Hz and 100 Hz. The force plate
2714
EMBC 2003
2715
III. RESULTS
The network was simulated with data from each of the
trials, for each subject. The results for each of the different
test conditions for subjects 1 and 2 are given in Fig. 1 and
Fig. 2 respectively. The first 2000 samples consist of the
remaining samples from the first 6 seconds of the trial that
were not used for training. Thus testing the networks
reliability. The remaining 2000 points consist of the data
from the last 4 seconds of the trial. Thus testing the
networks response to new data that is independent from the
training data in that there is no overlap between them as
with the first 2000 points.
The true COM trajectory is indicated with a solid line,
and the estimated COM trajectory is indicated with a dashed
line. The mean and maximum values for the NPE for each
subject, during each condition, are given in Table 1.
IV. DISCUSSION
Control models have been developed that estimate state
variables by incorporating the actual biomechanics of the
system [6,7]. Optimal estimation control theory is used,
which optimizes the state variables according to a cost
function. A benefit of this model is that sensory noise is
incorporated. A Kalman filter is used to provide an optimal
estimate of the state variables, given delayed sensor plus
noise signals and delayed control signals. As Kalman filters
operate on linear data, and the relationship between sensory
and state information is not always linear, optimal estimates
are then passed through a non-linear predictor.
2716
Subject 2
Mean
NPE (%)
Maximum
NPE (%)
Mean
NPE (%)
Maximum
NPE (%)
Eyes Open,
Normal Surface
7.3
23.6
5.4
15.0
Eyes Open,
Sponge
8.6
24.7
6.5
21.3
Eyes Closed,
Sponge
12.7
41.8
10.5
41.4
V. CONCLUSION
The motivation behind this research is the development
of a clinically available system, that provides the same
2717
REFERENCES
[1] J. J. Buchanan and F. B. Horak, Emergence of Postural Patterns
as a function of vision and translation frequency Journal of
Neurophysiology, vol. 6, pp. 2325-2339, 1999.
[2] M. Schieppati, A. Giordano and A. Nardone, Variability in a
dynamic postural t ask attests ample flexibility in balance control
mechanisms Experimental Brain Research, vol. 144, pp. 200210, 2002.
[3] Y. G. Ko, J. H. Challis and K. M. Newell, Postural coordination
patterns as a function of dynamics of the support surface
Human Mo vement Science, vol. 20, no. 6, pp. 737-764, 2001.
[4] T. Szturm and B. Fallang, Effects of varying acceleration of
platform translation and toes-up rotations on the pattern and
magnitude of balance reactions in humans Journal of Vestibular
Research, vol. 8, no. 5, pp. 381-397, 1998.
[5] P. Gatev, S. Thomas, T. Kepple and M. Hallet, Feedforward
ankle strategy of balance during quiet stance in adults Journal
of Physiology, 514.3, pp. 915-928, 1999.
[6] H. van der Kooij, R. Jacobs, B. Koopman and H. Grootenboer,
A multisensory integration model of human stance control
Biological Cybernetics, vol. 80, pp. 299-308, 1999.
[7] T. Kiemel, K. S. Oie and J. J. Jeka, Multisensory fusion and the
stochastic structure of postural sway Biological Cybernetics,
vol. 87, pp. 262-277, 2002.
[8] W. Wang and A. Bhattacharya, A back-propagation neural
network model for prediction of loss of balance, IEEE
Proceedings (peer-reviewed) of the 15th Southern Biomedical
Engineering Conference, Pub. # 0-7803-3131-1/96, pp. 85-88,
1996.
[9] D. A. Winter, Biomechanics and motor control of human
movement. John Wiley & Sons Canada, LTD., 1990, pp. 5172.
[10] J. A. Freeman and D. M. Skapura, Neural networks: algorithms,
applications and programming techniques. Addison Wesley
Longman, 1991, pp. 89-105.
[11] Neural Networks Toolbox (4.0) Users Guide, The MathWorks,
Natick, MA, 2000, pp. 2-22-22, 5-22-56.