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1. Comparison of scapula soft tissue artefact compensation methods during manual wheelchair locomotion

Author

ROUVIER, Théo, LIVET, C., LOMBART, Antoine, DUMONT, G., PONTONNIER, C., SAURET, Christophe, PILLET, Hélène, Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, Université de Rennes (UR), Analysis-Synthesis Approach for Virtual Human Simulation (MIMETIC), Université de Rennes 2 (UR2)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
Rehabilitation, Biophysics, Orthopedics and Sports Medicine, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], Mécanique: Biomécanique [Sciences de l'ingénieur]
Abstract

Two third of manual wheelchair (MWC) users report suffering or having suffered from shoulder pain or injury [1]. To favour the understanding of these disorders, it is crucial to quantify the shoulder kinematics and kinetics during MWC locomotion [2]. However, soft tissue artefacts (STA) are particularly present at the scapula, making it difficult to accurately track the bone motion [3], motivating researchers to propose compensation methods based on acromion or scapula spine marker clusters and a calibration pose [4]. Apart from invasive or irradiative methods, the reference method to localize the scapula bone is based on external palpation generally through the use of a scapula palpator (SP) [5]. In this study, we propose to compare the scapula kinematics reconstructed from a cluster with STA compensation based on one or two calibration static poses during the push phase with the reference method using a SP. ANR-19-CE19-0007

Published
2022

2. Modal Characterization of Manual Wheelchairs

Author

Ophélie Lariviere, Delphine Chadefaux, Christophe Sauret, Layla Kordulas, Patricia Thoreux, Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)

Subjects
Mécanique: Vibrations [Sciences de l'ingénieur], Manual wheelchair, manual wheelchair, modal analysis, hammer roving test, Modal analysis, [SPI.MECA.VIBR]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Vibrations [physics.class-ph], General Medicine, Hammer roving test
Abstract

International audience; Manual wheelchair (MWC) users are exposed to whole-body vibrations (WBVs) during propulsion. Vibrations enter the MWC structure through the wheels’ hub, propagate according to the MWC dynamical response, and finally reach the user’s body by the footrest, seat, backrest, and handrims. Such exposure is likely to be detrimental to the user’s health and a source of discomfort and fatigue which could, in daily life, impact users’ social participation and performance in sports. To reduce WBV exposure, a solution relies on MWC dynamical response modelling and simulation, where the model could indeed be used to identify parameters that improve the MWC dynamic. As a result, it is necessary to first assess the MWC dynamical response. In this approach, experimental modal analyses were conducted on eleven MWCs, including daily and sport MWCs (tennis, basketball, and racing). Through this procedure, modal properties (i.e., modal frequencies, damping parameters, and modal shapes) were identified for each MWC part. The results pointed out that each MWC investigated, even within the same group, revealed specific vibration properties, underlining the difficulty of developing a single vibration-reducing system for all MWCs. Nevertheless, several common dynamical properties related to MWC comfort and design were identified.

Published
2022

3. Manual wheelchair biomechanics while overcoming various environmental barriers: A systematic review

Author

Théo Rouvier, Aude Louessard, Emeline Simonetti, Samuel Hybois, Joseph Bascou, Charles Pontonnier, Hélène Pillet, Christophe Sauret, École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, Institut de Mécanique et d'Ingénierie (I2M), Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Arts et Métiers Sciences et Technologies, Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Université Paris-Saclay, Analysis-Synthesis Approach for Virtual Human Simulation (MIMETIC), Université de Rennes 2 (UR2)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), ANR-19-CE19-0007,CapaCITIES,Quantifier le coût biomécanique des déplacements urbains en fauteuil roulant pour l'accessibilité des villes de demain(2019), École Nationale Supérieure des Arts et Métiers (ENSAM), Faculté des Sciences du Sport, Complexité, Innovation, Activités Motrices et Sportives (CIAMS), Université d'Orléans (UO)-Université Paris-Saclay, Université de Rennes (UR), École normale supérieure - Rennes (ENS Rennes), and This study was funded by the French National Research Agency, 'Agence Nationale de la Recherche' (https://anr.fr/) by a grant awarded to the following authors: T.R., A.L., J.B., C.P., H.P., C.S.Grant number: ANR-19-CE19-0007

Subjects
Kinematics, Multidisciplinary, Cross-slope, Electromyography, Spatio-temporal parameters, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Architectural Accessibility, Biomechanical Phenomena, Slope, Curb, Cross-slope, Slope, Ground type, Kinematics, Spatio-temporal parameters, Kinetics, Electromyography, Kinetics, Wheelchairs, Ground type, Humans, Curb, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], Fatigue, Locomotion, Mécanique: Biomécanique [Sciences de l'ingénieur]
Abstract

During manual wheelchair (MWC) locomotion, the user's upper limbs are subject to heavy stresses and fatigue because the upper body is permanently engaged to propel the MWC. These stresses and fatigue vary according to the environmental barriers encountered outdoors along a given path. This study aimed at conducting a systematic review of the literature assessing the biomechanics of MWC users crossing various situations, which represent physical environmental barriers. Through a systematic search on PubMed, 34 articles were selected and classified according to the investigated environmental barriers: slope; cross-slope; curb; and ground type. For each barrier, biomechanical parameters were divided into four categories: spatiotemporal parameters; kinematics; kinetics; and muscle activity. All results from the different studies were gathered, including numerical data, and assessed with respect to the methodology used in each study. This review sheds light on the fact that certain situations (cross-slopes and curbs) or parameters (kinematics) have scarcely been studied, and that a wider set of situations should be studied. Five recommendations were made at the end of this review process to standardize the procedure when reporting materials, methods, and results for the study of biomechanics of any environmental barrier encountered in MWC locomotion: (i) effectively reporting barriers’ lengths, grades, or heights; (ii) striving for standardization or a report of the approach conditions of the barrier, such as velocity, especially on curbs; (iii) reporting the configuration of the used MWC, and if it was fitted to the subject’s morphology; (iv) reporting rotation sequences for the expression of moments and kinematics, and when used, the definition of the musculoskeletal model; lastly (v) when possible, reporting measurement uncertainties and model reconstruction errors. This study was funded by the French National Research Agency, “Agence Nationale de la Recherche” (https://anr.fr/) by a grant awarded to the following authors: T.R., A.L., J.B., C.P., H.P., C.S. Grant number: ANR-19-CE19-0007

Published
2022

4. A penalty method for constrained Multibody kinematics optimisation using a Levenberg-Marquardt algorithm

Author

Claire Livet, Théo Rouvier, Christophe Sauret, Hélène Pillet, Georges Dumont, Charles Pontonnier, Analysis-Synthesis Approach for Virtual Human Simulation (MIMETIC), Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes 1 (UR1), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure des Arts et Métiers (ENSAM), Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, This study was conducted as part of the CapaCITIES project, funded by the French National Research Agency (ANR-19-CE19-0007)., Université de Rennes 2 (UR2)-Inria Rennes – Bretagne Atlantique, Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), ANR-19-CE19-0007,CapaCITIES,Quantifier le coût biomécanique des déplacements urbains en fauteuil roulant pour l'accessibilité des villes de demain(2019), and ANR-21-ESRE-0030,CONTINUUM,Collaborative Continuity from Digital to Human(2021)

Subjects
Human-Computer Interaction, closed-loop, Biomedical Engineering, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], closed loop, Bioengineering, Biomechanics, General Medicine, Multibody kinematics optimisation, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], constraints, Mécanique: Biomécanique [Sciences de l'ingénieur], Computer Science Applications
Abstract

An alternative method for solving constrained Multibody kinematics optimisation using a penalty method on constraints and a Levenberg-Marquardt algorithm is proposed. It is compared to an optimisation resolution with hard kinematic constraints. These methods are applied to two pairs of experiments and models. The penalty method was at least 20 times faster than the optimisation resolution while keeping similar reconstruction errors and constraints violation. The potential of the method is shown to accurately solve the Multibody kinematics optimisation problem in a reasonable amount of time. A computational gain lies in implementing this resolution with a compiled and optimised program code. This study was conducted as part of the CapaCITIES project, funded by the French National Research Agency (ANR-19-CE19-0007).

Published
2022

5. Estimation of 3D Body Center of Mass Acceleration and Instantaneous Velocity from a Wearable Inertial Sensor Network in Transfemoral Amputee Gait: A Case Study

Author

Elena Bergamini, Giuseppe Vannozzi, Hélène Pillet, Joseph Bascou, Emeline Simonetti, Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal System (IUC-Bohnes), Università degli Studi di Roma 'Foro Italico', Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), and Don de la Fédération des Amputés de Guerre de France auprès de l'INI/CERH (contrat doctoral)Bourse mobilité cotutelle Université Franco-Italienne, VINCI C2-881

Subjects
Inertial frame of reference, Computer science, Acceleration, 0206 medical engineering, Reference data (financial markets), TP1-1185, 02 engineering and technology, Kinematics, lower-limb amputation, Biochemistry, Article, Analytical Chemistry, Computer Science::Robotics, Wearable Electronic Devices, 03 medical and health sciences, 0302 clinical medicine, Amputees, Control theory, Atomic and Molecular Physics, Humans, Force platform, limb amputation, Electrical and Electronic Engineering, Gait, Instrumentation, Mécanique: Biomécanique [Sciences de l'ingénieur], sensor network, Chemical technology, wearable sensors, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], 020601 biomedical engineering, Atomic and Molecular Physics, and Optics, Biomechanical Phenomena, locomotion, kinematics, Gait analysis, gait analysis, Center of mass, prosthesis, MIMU, and Optics, CoM, Wireless sensor network, 030217 neurology & neurosurgery
Abstract

The analysis of the body center of mass (BCoM) 3D kinematics provides insights on crucial aspects of locomotion, especially in populations with gait impairment such as people with amputation. In this paper, a wearable framework based on the use of different magneto-inertial measurement unit (MIMU) networks is proposed to obtain both BCoM acceleration and velocity. The proposed framework was validated as a proof of concept in one transfemoral amputee against data from force plates (acceleration) and an optoelectronic system (acceleration and velocity). The impact in terms of estimation accuracy when using a sensor network rather than a single MIMU at trunk level was also investigated. The estimated velocity and acceleration reached a strong agreement (ρ &gt, 0.89) and good accuracy compared to reference data (normalized root mean square error (NRMSE) &lt, 13.7%) in the anteroposterior and vertical directions when using three MIMUs on the trunk and both shanks and in all three directions when adding MIMUs on both thighs (ρ &gt, 0.89, NRMSE ≤ 14.0% in the mediolateral direction). Conversely, only the vertical component of the BCoM kinematics was accurately captured when considering a single MIMU. These results suggest that inertial sensor networks may represent a valid alternative to laboratory-based instruments for 3D BCoM kinematics quantification in lower-limb amputees.

Published
2021

6. Expected scapula orientation error regarding scapula-locator uncertainty while studying wheelchair locomotion

Author

LIVET, Claire, ROUVIER, Théo, SAURET, Christophe, DUMONT, Georges, PONTONNIER, Charles, Analysis-Synthesis Approach for Virtual Human Simulation (MIMETIC), Université de Rennes 2 (UR2)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-MEDIA ET INTERACTIONS (IRISA-D6), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure des Arts et Métiers (ENSAM), Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), This study was funded by the French National Research Agency (ANR-19-CE19-0007)., ANR-19-CE19-0007,CapaCITIES,Quantifier le coût biomécanique des déplacements urbains en fauteuil roulant pour l'accessibilité des villes de demain(2019), Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Inria Rennes – Bretagne Atlantique, Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), and HESAM Université (HESAM)-HESAM Université (HESAM)

Subjects
shoulder, scapula loctor, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], scapula locator, sensitivity, Mécanique: Biomécanique [Sciences de l'ingénieur], ComputingMilieux_MISCELLANEOUS
Abstract

Shoulder complex motion is a fundamental aspect of wheelchair locomotion. However, this motion is difficult to capture with skin marker methods due to soft tissue artefacts (Bourne et al., 2011). To overcome this issue, scapula locators (SL), which are external devices equipped with reflective markers and manually registered on the scapula, have been designed (Brochard et al. 2012) To track scapula motion, the SL first needs to be configured as to simultaneously palpate three anatomical landmarks of the scapula: the acromial angle, inferior angle and root of the scapular spine. For static poses, de Groot et al. (1997) and Jafarian Tangrood et al. (2020) studied the impact of palpation incertitude and inter-observer variability on scapula position reconstruction. They reported a scapula angle error in the range of 3.5 – 5 degrees. However, shoulder motions have not been studied yet and the angle error remains unpredictable. The issue raised in this study was to determine the impact of palpation errors of the scapula’s anatomical landmarks when configuring the SL on the reconstruction of a motion-tracking task. Four angles were studied through a constrained multibody kinematics optimization. The study used a Monte Carlo approach and a statistic analysis. This study was funded by the French National Research Agency (ANR-19-CE19-0007).

Published
2021

7. A preliminary investigation of handrim kinetics in various environmental situations crossed in manual wheelchair

Author

Louessard, A, Rouvier, T, Bascou , J, Hybois , S, Pillet, H, Sauret, C, École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), UFR Santé, Médecine et Biologie Humaine (UFR SMBH), and Université Sorbonne Paris Nord

Subjects
Slope, Manual wheelchair, Kerb, Biomechanics, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], U-turn, Mécanique: Biomécanique [Sciences de l'ingénieur], ComputingMilieux_MISCELLANEOUS
Abstract

During manual wheelchair (MWC) locomotion, the user's upper limbs are subject to significant levels of stress and fatigue because the upper body is permanently engaged to propel the MWC and in all daily activities (van der Woude et al., 2001). This stress can lead to pain and wounds in the upper limbs which in turn may lead to difficulties in autonomy and social integration for MWC users. Suggesting adequate and accessible paths for urban locomotion to MWC users could be a way to reduce the loads sustained by the upper limbs for this population. Tools for suggesting accessible places have already been forwarded in several smartphone applications, but no solution is currently able to provide the best accessible path to move from one place to another. This primarily requires the definition of a quantitative criterion that can be linked to the user’ individual physical capacities In the literature, the physical difficulty of a situation is generally described using either the propelling torque (i.e. the torque acting at the wheel hub and that ensure the wheel rotation) or through the total force applied by the user on the handrim (Koontz et al., 2005; Richter et al., 2007). However, it is unknown if the ranking of the situation difficulty based on these two criteria are equivalent. Hence, the aim of this preliminary study was to evaluate the ranking of various environmental situations according to the two previous criteria: propelling torque and the handrim total force. This study was supported by the French National Agency (ANR-19-CE19-0007).

Published
2021

8. An automatic and simplified approach to muscle path modelling

Author

Claire Livet, Théo Rouvier, Charles Pontonnier, Georges Dumont, Analysis-Synthesis Approach for Virtual Human Simulation (MIMETIC), Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-MEDIA ET INTERACTIONS (IRISA-D6), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), École Nationale Supérieure des Arts et Métiers (ENSAM), Université de Rennes (UNIV-RENNES), Université de Rennes 2 (UR2)-Inria Rennes – Bretagne Atlantique, Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Université de Rennes (UR), and ANR-19-CE19-0007,CapaCITIES,Quantifier le coût biomécanique des déplacements urbains en fauteuil roulant pour l'accessibilité des villes de demain(2019)

Subjects
Mean squared error, Computer science, 0206 medical engineering, Biomedical Engineering, 02 engineering and technology, 030204 cardiovascular system & hematology, Models, Biological, Musculoskeletal model, Upper Extremity, Set (abstract data type), 03 medical and health sciences, 0302 clinical medicine, Physiology (medical), Musculotendon lentgh, Torque, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], Muscle, Skeletal, Musculotendon length, Mécanique: Biomécanique [Sciences de l'ingénieur], 020601 biomedical engineering, Biomechanical Phenomena, Moment (mathematics), Forearm, Path (graph theory), Algorithm, Moment arm
Abstract

This paper aims at proposing an automatic method to design and adjust simplified muscle paths of a musculoskeletal model. These muscle paths are composed of straight lines described by a limited set of fixed active via points and an optimization routine is developed to place these via points on the model in order to fit moment arms and musculotendon lengths input data. The method has been applied to a forearm musculoskeletal model extracted from the literature, using theoretical input data as an example. Results showed that for 75% of the muscle set, the relative root-mean-square error between literature theoretical data and the results from optimized muscle path was under 29.23% for moment arms and of 1.09% for musculotendon lengths. These results confirm the ability of the method to automatically generate computationally efficient muscle paths for musculoskeletal simulations. Using only via points lowers computational expense compared to paths exhibiting wrapping objects. A proper balance between computational time and anatomical realism should be found to help those models being interpreted by practitioners.

Published
2021

9. Changes in Wheelchair Biomechanics Within the First 120 Minutes of Practice: Spatiotemporal Parameters, Handrim Forces, Motor Force, Rolling Resistance and Fore-Aft Stability

Author

Samuel Hybois, Christophe Sauret, Alice Siegel, Nicolas Eydieux, Pascale Fodé, Joseph Bascou, Philippe Vaslin, Hélène Pillet, Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Université Clermont Auvergne [2017-2020] (UCA [2017-2020]), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), and HESAM Université (HESAM)-HESAM Université (HESAM)

Subjects
Adult, Male, 030506 rehabilitation, Computer science, Rolling resistance, [SDV]Life Sciences [q-bio], Biomedical Engineering, Stability (learning theory), Physical Therapy, Sports Therapy and Rehabilitation, Propulsion, Dreyfus model of skill acquisition, Education, Manual wheelchair, 03 medical and health sciences, Speech and Hearing, 0302 clinical medicine, Wheelchair, Spatio-Temporal Analysis, wheelchair, Humans, Learning, Orthopedics and Sports Medicine, Biomechanics, Simulation, learning, Rehabilitation, stability, mobility, Biomechanical Phenomena, Wheelchairs, Motor Skills, Sciences du vivant, Female, 0305 other medical science, 030217 neurology & neurosurgery, Locomotion
Abstract

International audience; Purpose: During manual wheelchair (MWC) skill acquisition, users adapt their propulsion technique through changes in biomechanical parameters. This evolution is assumed to be driven towards a more efficient behavior. However, when no specific training protocol is provided to users, little is known about how they spontaneously adapt during overground MWC locomotion. For that purpose, we investigated this biomechanical spontaneous adaptation within the initial phase of low-intensity uninstructed training. Materials and methods: Eighteen novice able-bodied subjects were enrolled to perform 120min of unin- structed practice with a field MWC, distributed over 4 weeks. Subjects were tested during the very first minutes of the program, and after completion of the entire training protocol. Spatiotemporal parameters, handrim forces, motor force, rolling resistance and fore-aft stability were investigated using an instru- mented field wheelchair. Results: Participants rapidly increased linear velocity of the MWC, thanks to a higher propulsive force. This was achieved thanks to higher handrim forces, combined with an improved fraction of effective force for startup but not for propulsion. Despite changes in mechanical actions exerted by the user on the MWC, rolling resistance remained constant but the stability index was noticeably altered. Conclusion: Even if no indication is given, novice MWC users rapidly change their propulsion technique and increase their linear speed. Such improvements in MWC mobility are allowed by a mastering of the whole range of stability offered by the MWC, which raises the issue of safety on the MWC.

Published
2020

10. Microprocessor prosthetic ankles: comparative biomechanical evaluation of people with transtibial traumatic amputation during standing on level ground and slope

Author

Joseph Bascou, M. Thomas-Pohl, Hélène Pillet, Julia Facione, Eric Lapeyre, Coralie Villa, Xavier Bonnet, Jean-Louis Davot, Hôpital d'instruction des Armées Percy, Service de Santé des Armées, Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), and Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH)

Subjects
Adult, Male, 030506 rehabilitation, medicine.medical_specialty, Centre of pressure, [SDV]Life Sciences [q-bio], Biomedical Engineering, Physical Therapy, Sports Therapy and Rehabilitation, Artificial Limbs, Prosthesis Design, 03 medical and health sciences, Speech and Hearing, 0302 clinical medicine, Physical medicine and rehabilitation, Gait (human), Amputation, Traumatic, Amputees, Microcomputers, Lower limb amputation, Prosthesis Fitting, medicine, Humans, Orthopedics and Sports Medicine, ramp, Microprocessor-controlled feet, Postural Balance, posture, Prosthetic feet, business.industry, Rehabilitation, centre of pressure, Architectural Accessibility, Middle Aged, transtibial amputee, Biomechanical Phenomena, body regions, Standing Position, Sciences du vivant, Female, Traumatic amputation, 0305 other medical science, business, 030217 neurology & neurosurgery, Ankle Joint
Abstract

International audience; Background: The compensations occurrence due to the alteration of the posture and the gait of persons with lower limb amputation is still an issue in prosthetic fitting. Recently, prosthetic feet designed to reproduce the physiological behaviour of the ankle using a microprocessor control have been commercialized to address this issue.Objectives: Investigate the relevance of these microprocessor prosthetic ankles (MPAs) in the ability of standing on both level and inclined surfaces.Methods: Six persons with transtibial amputation usually fitted with energy storing and returning (ESR) foot tested three MPAs: ElanVR Endolite (MPA1), MeridiumV Ossur (MPA3). Each MPA data acquisition was preceded of a 2 weeks adaptation period at home and followed by a 3-weeks wash-out period with their ESR. Lower limb angular position and moment, Centre of Pressure (CoP) position, Ground Reaction Forces (GRF) and functional scores were collected in static, on level ground and 12% inclined slope.Results: MPAs allowed a better posture and a reduction of residual knee moment on positive and/or negative slope compared to ESR. Results also reflect that the MPA2 allows the best control of the CoP in all situations. Conclusions: An increased ankle mobility is associated with a better posture and balance on slope. Gait analysis would complete these outcomes.Clinical relevance: This study compares three MPAs to ESR analysing static posture. Static analysis on level ground and slope represents the challenging conditions people with amputation have to cope with in their daily life, especially outdoors. Having a better understanding of the three MPAs behaviour could help to adequately fit the prosthesis to each patient.

Published
2019

11. Comparison of shoulder kinematic chain models and their influence on kinematics and kinetics in the study of manual wheelchair propulsion

Author

Samuel Hybois, Pascale Fodé, Christophe Sauret, Maxime Bourgain, Pierre Puchaud, Joseph Bascou, Hélène Pillet, Antoine Lombart, François Lavaste, Institut de Biomecanique Humaine Georges Charpak, Université Paris 13 (UP13)-Arts et Métiers ParisTech, École normale supérieure - Rennes (ENS Rennes), Centre de recherche des écoles de Saint-Cyr Coëtquidan [Guer] (CREC), Ecoles de Saint-Cyr Coëtquidan [Guer], Analysis-Synthesis Approach for Virtual Human Simulation (MIMETIC), Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-MEDIA ET INTERACTIONS (IRISA-D6), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes 1 (UR1), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Université de Rennes (UNIV-RENNES), Arts et Métiers ParisTech, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Laboratoire de biomécanique (LBM), Université Paris 13 (UP13)-Université Sorbonne Paris Cité (USPC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Université de Rennes 2 (UR2)-Inria Rennes – Bretagne Atlantique, Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Université de Rennes (UR), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), HESAM Université (HESAM), and Centre National de la Recherche Scientifique (CNRS)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Sorbonne Paris Cité (USPC)-Université Paris 13 (UP13)

Subjects
Adult, Models, Anatomic, Kinematic chain, Computer science, shoulder, 0206 medical engineering, Biomedical Engineering, Biophysics, 02 engineering and technology, Kinematics, Propulsion, Models, Biological, Young Adult, 03 medical and health sciences, ellipsoid mobilizer, 0302 clinical medicine, Wheelchair, Software, Scapula, wheelchair, medicine, Humans, musculoskeletal modeling, Mécanique: Biomécanique [Sciences de l'ingénieur], Simulation, Mechanical Phenomena, Shoulder Joint, business.industry, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Middle Aged, 020601 biomedical engineering, Ellipsoid, Biomechanical Phenomena, medicine.anatomical_structure, Wheelchairs, Shoulder joint, business, human activities, 030217 neurology & neurosurgery
Abstract

International audience; Several kinematic chains of the upper limbs have been designed in musculoskeletal models to investigate various upper extremity activities, including manual wheelchair propulsion. The aim of our study was to compare the effect of an ellipsoid mobilizer formulation to describe the motion of the scapulothoracic joint with respect to regression-based models on shoulder kinematics, shoulder kinetics and computational time, during manual wheelchair propulsion activities. Ten subjects, familiar with manual wheelchair propulsion, were equipped with reflective markers and performed start-up and propulsion cycles with an instrumented field wheelchair. Kinematic data obtained from the optoelectronic system and kinetic data measured by the sensors on the wheelchair were processed using the OpenSim software with three shoulder joint modeling versions (ellipsoid mobilizer, regression equations or fixed scapula) of an upper-limb musculoskeletal model. As expected, the results obtained with the three versions of the model varied, for both segment kinematics and shoulder kinetics. With respect to the model based on regression equations, the model describing the scapulothoracic joint as an ellipsoid could capture the kinematics of the upper limbs with higher fidelity. In addition, the mobilizer formulation allowed to compute consistent shoulder moments at a low computer processing cost. Further developments should be made to allow a subject-specific definition of the kinematic chain.

Published
2019

12. On the influence of the shoulder kinematic chain on joint kinematics and musculotendon lengths during wheelchair propulsion estimated from multibody kinematics optimization

Author

Joseph Bascou, Christophe Sauret, Antoine Lombart, Pascale Fodé, Samuel Hybois, Pierre Puchaud, Hélène Pillet, Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), and This study has been self-funded by the Centre d'Etude et de Recherche sur l'Appareillage des Handicapés (Institution Nationale des Invalides), Créteil, France.

Subjects
Kinematic chain, multibody kinematic optimization, [SDV]Life Sciences [q-bio], 0206 medical engineering, Biomedical Engineering, Degrees of freedom (statistics), acromioclavicular joint, 02 engineering and technology, Kinematics, Motion capture, 03 medical and health sciences, 0302 clinical medicine, Scapula, Control theory, soft tissue artefact, Physiology (medical), medicine, Acromioclavicular joint, Humerus, manual wheelchair, Mathematics, glenohumeral joint, scapulothoracic joint, thoraco-humeral joint, weighted average distance, sternoclavicular joint, 020601 biomedical engineering, Ellipsoid, medicine.anatomical_structure, Sciences du vivant, root mean square error, degree of freedom, 030217 neurology & neurosurgery
Abstract

Multibody kinematic optimization is frequently used to assess shoulder kinematics during manual wheelchair (MWC) propulsion but multiple kinematics chains are available. It is hypothesized that these different kinematic chains affect marker tracking, shoulder kinematics and resulting musculotendon (MT) lengths. In this study, shoulder kinematics and MT lengths obtained from four shoulder kinematic chains (open-loop thorax-clavicle-scapula-humerus (M1), closed-loop with contact ellipsoid (M2), scapula rhythm from regression equations (M3), and a single ball-and- socket joint between the thorax and the humerus (M4) were compared. Right-side shoulder kinematics from seven subjects were obtained with 34 reflective markers and a scapula locator using an optoelectronic motion capture system while propelling on a MWC simulator. Data was processed based on the four models. Results showed the impact of shoulder kinematic chains on all studied variables. Marker reconstruction errors were found similar between M1 and M2 and lower than for M3 and M4. Few degrees of freedom (DoF) were noticeably different between M1 and M2, but all shoulder DoFs were significantly affected between M1 and M4. As a consequence of differences in joint kinematics, MT lengths were affected by the kinematic chain definition. The contact ellipsoid (M2) was found as a good trade-off between marker tracking and penetration avoidance of the scapula. The regression-based model (M3) was less efficient due to limited humerus elevation during MWC propulsion, as well as the ball-and-socket model (M4) which appeared not suitable for upper limbs activities, including MWC propulsion. This study has been self-funded by the Centre d'Etude et de Recherche sur l'Appareillage des Handicapés (Institution Nationale des Invalides), Créteil, France.

Published
2019

13. Evolution of vaulting strategy during locomotion of individuals with transfemoral amputation on slopes and cross-slopes compared to level walking

Author

Pascale Fodé, Xavier Drevelle, Isabelle Loiret, Hélène Pillet, François Lavaste, Coralie Villa, Xavier Bonnet, Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), PROTEOR, LBM/institute de Biomécanique humaine Georges Charpak, Arts et Métiers ParisTech, HESAM Université (HESAM)-HESAM Université (HESAM), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), HESAM Université (HESAM), Institut de Biomecanique Humaine Georges Charpak, Université Paris 13 (UP13)-Arts et Métiers ParisTech, and This study was supported by the French National Research Agency, under reference ANR-2010 TECS-020. The authors are deeply grateful to N. Martinet, J. Paysant, and N. Rapin for their contribution to the study.

Subjects
Adult, medicine.medical_specialty, Power walking, [SDV]Life Sciences [q-bio], medicine.medical_treatment, Biophysics, Prosthetic limb, Artificial Limbs, Walking, Amputation, Surgical, Amputation, Traumatic, Activities of Daily Living, medicine, Humans, Daily living, Orthopedics and Sports Medicine, Gait, Mécanique: Biomécanique [Sciences de l'ingénieur], Transfemoral amputation, Rehabilitation, business.industry, Middle Aged, Biomechanical Phenomena, medicine.anatomical_structure, Amputation, Sciences du vivant, Physical therapy, Ankle, business, human activities, Ankle Joint
Abstract

Background: Vaulting is a walking strategy qualitatively characterized in clinics by the sound ankle plantiflexion in midstance to assist prosthetic foot clearance. Even though potentially harmful, this strategy is often observed among people with transfemoral amputation to secure clearance of the prosthetic limb during swing phase. The aim of the study is to provide a quantitative analysis of the evolution of the vaulting strategy in challenging situations of daily living. Methods: 17 persons with transfemoral amputation and 17 able-bodied people participated in the study. Kinematic and kinetic gait analyses were performed for level walking, 10% inclined cross-slope walking, 5% and 12% inclined slope ascending. To study vaulting strategy, peak of generated power at the sound ankle at midstance was identified and quantified in the different walking situations. In particular, values were compared to a vaulting threshold corresponding to a peak of generated power superior to 0.15 W/kg. Findings: The vaulting threshold was exceeded for a larger proportion of people with amputation during crossslope locomotion and slope ascent than during level walking. In addition, magnitude of the peak of generated power increased significantly compared to level walking in these situations. Interpretation: Vaulting seems to be widely used by patients with transfemoral amputation in daily living situations.The number of patients using vaulting increased with the difficulty of the walking situation. Results also suggested that patients could dose the amount of vaulting according to gait environment to secure prosthetic toe clearance. During rehabilitation, vaulting should also be corrected or prevented in daily living tasks. This study was supported by the French National Research Agency, under reference ANR-2010 TECS-020. The authors are deeply grateful to N. Martinet, J. Paysant, and N. Rapin for their contribution to the study.

Published
2015

14. Assessment of power losses due to ground contact forces during usual manual wheelchair movements

Author

François Lavaste, Christophe Sauret, Constantin Fallot, Samuel Hybois, Hélène Pillet, Joseph Bascou, Administrateur Ensam, Compte De Service, Arts et Métiers ParisTech, LBM/Institut de Biomécanique Humaine Georges Charpak, Paris, France, parent, Institut de Biomecanique Humaine Georges Charpak, Université Paris 13 (UP13)-Arts et Métiers ParisTech, ‘Fondation du sport français - Henri Sérandour’, Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Laboratoire de biomécanique (LBM), Université Paris 13 (UP13)-Université Sorbonne Paris Cité (USPC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Arts et Métiers ParisTech, HESAM Université (HESAM), and HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)

Subjects
030506 rehabilitation, medicine.medical_specialty, Computer science, media_common.quotation_subject, 0206 medical engineering, education, Biomedical Engineering, Disabled people, Bioengineering, 02 engineering and technology, movement resistance, Sciences de l'ingénieur, Ground contact, Power (social and political), Manual wheelchair, 03 medical and health sciences, [SPI]Engineering Sciences [physics], [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], medicine, turning, manual wheelchair, Mécanique: Biomécanique [Sciences de l'ingénieur], ComputingMilieux_MISCELLANEOUS, health care economics and organizations, media_common, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], General Medicine, equipment and supplies, 020601 biomedical engineering, nervous system diseases, Computer Science Applications, body regions, Human-Computer Interaction, Physical therapy, rolling, 0305 other medical science, human activities, Autonomy
Abstract

Manual wheelchair (MWC) allows disabled people to recover autonomy, but may overload their upper limbs, causing pain or musculoskeletal disorders (Mercer et al. 2006). The stresses sustained by the...

Published
2017

15. Effects of ellipsoid parameters on scapula motion during manual wheelchair propulsion based on multibody kinematics optimization. A preliminary study

Author

Antoine Lombart, Pierre Puchaud, Samuel Hybois, François Lavaste, Christophe Sauret, Hélène Pillet, Joseph Bascou, Institut de Biomecanique Humaine Georges Charpak, Université Paris 13 (UP13)-Arts et Métiers ParisTech, Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Laboratoire de biomécanique (LBM), Université Paris 13 (UP13)-Université Sorbonne Paris Cité (USPC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Arts et Métiers ParisTech, HESAM Université (HESAM), Arts et Métiers ParisTech, LBM/Institut de Biomécanique Humaine Georges Charpak, Paris, France, parent, CERAH, Institution Nationale des Invalides, Administrateur Ensam, Compte De Service, and HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)

Subjects
Engineering, [SPI] Engineering Sciences [physics], shoulder, 0206 medical engineering, Biomedical Engineering, Bioengineering, 02 engineering and technology, Kinematics, Propulsion, Sciences de l'ingénieur, Motion (physics), Manual wheelchair, [SPI]Engineering Sciences [physics], 03 medical and health sciences, 0302 clinical medicine, Wheelchair, Scapula, wheelchair, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Mécanique: Biomécanique [Sciences de l'ingénieur], Simulation, ComputingMilieux_MISCELLANEOUS, musculoskeletal, business.industry, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], General Medicine, 020601 biomedical engineering, Ellipsoid, Computer Science Applications, Human-Computer Interaction, kinematics, business, scapulothoracic, 030217 neurology & neurosurgery
Abstract

International audience; The aim of this work was to evaluate the influence of the ellipsoid parameters (centre location and radii) on kinematicsreconstructed using multibody kinematics optimisation during MWC propulsion.

Published
2017

16. Tracking the scapula motion through multibody kinematics optimisation to study manual wheelchair propulsion

Author

Samuel Hybois, Christophe Sauret, Pierre Puchaud, Joseph Bascou, Hélène Pillet, Alice Siegel, Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Institut de Biomecanique Humaine Georges Charpak, Arts et Métiers ParisTech-Université Paris 13 (UP13), Laboratoire de biomécanique (LBM), Université Paris 13 (UP13)-Université Sorbonne Paris Cité (USPC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Arts et Métiers ParisTech, HESAM Université (HESAM), Université Paris 13 (UP13)-Arts et Métiers ParisTech, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), and Administrateur Ensam, Compte De Service

Subjects
Kinematic chain, Computer science, 0206 medical engineering, Biomedical Engineering, Bioengineering, 02 engineering and technology, Kinematics, Propulsion, Tracking (particle physics), Motion (physics), Manual wheelchair, 03 medical and health sciences, 0302 clinical medicine, Wheelchair, Scapula, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Mécanique: Biomécanique [Sciences de l'ingénieur], ComputingMilieux_MISCELLANEOUS, Simulation, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Control engineering, General Medicine, 020601 biomedical engineering, Computer Science Applications, Human-Computer Interaction, 030217 neurology & neurosurgery
Abstract

International audience; No abstract available

Published
2017

17. Measurement of wheelchair adjustment effects on turning deceleration

Author

Hélène Pillet, François Lavaste, Joseph Bascou, Coralie Villa, Christophe Sauret, Laboratoire de biomécanique (LBM), Centre National de la Recherche Scientifique (CNRS)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Sorbonne Paris Cité (USPC)-Université Paris 13 (UP13), Arts et Métiers ParisTech, HESAM Université (HESAM), Institut de Biomecanique Humaine Georges Charpak, Université Paris 13 (UP13)-Arts et Métiers ParisTech, Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Université Paris 13 (UP13)-Université Sorbonne Paris Cité (USPC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), and Administrateur Ensam, Compte De Service

Subjects
parameters, Engineering, business.industry, Biomedical Engineering, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Bioengineering, General Medicine, Data science, rotation, Computer Science Applications, Manual wheelchair, Human-Computer Interaction, Wheelchair, Human–computer interaction, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Everyday life, business, Rotation (mathematics), manual wheelchair, Mécanique: Biomécanique [Sciences de l'ingénieur], ComputingMilieux_MISCELLANEOUS
Abstract

Manual wheelchair (MWC) locomotion combines straightforward and turning motions, in everyday life as well as in sport practice. Many authors demonstrated the effects of various MWC properties, such...

Published
2015

18. Cluster analysis to investigate biomechanical changes during learning of manual wheelchair locomotion: a preliminary study

Author

Philippe Vaslin, E. Mephu-Nguifo, Hélène Pillet, V. S. Siyou Fotso, Christophe Sauret, Pascale Fodé, Joseph Bascou, Laboratoire de biomécanique (LBM), Centre National de la Recherche Scientifique (CNRS)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Sorbonne Paris Cité (USPC)-Université Paris 13 (UP13), Institut de Biomecanique Humaine Georges Charpak, Université Paris 13 (UP13)-Arts et Métiers ParisTech, Laboratoire d'Informatique, de Modélisation et d'Optimisation des Systèmes (LIMOS), Ecole Nationale Supérieure des Mines de St Etienne-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Arts et Métiers ParisTech, HESAM Université (HESAM), Université Paris 13 (UP13)-Université Sorbonne Paris Cité (USPC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Ecole Nationale Supérieure des Mines de St Etienne (ENSM ST-ETIENNE)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), and Ecole Nationale Supérieure des Mines de St Etienne-Centre National de la Recherche Scientifique (CNRS)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])

Subjects
medicine.medical_specialty, Engineering, Biomedical Engineering, Bioengineering, 02 engineering and technology, Kinematics, computer.software_genre, Manual wheelchair, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, 020204 information systems, 0202 electrical engineering, electronic engineering, information engineering, medicine, Mécanique: Biomécanique [Sciences de l'ingénieur], business.industry, Biomechanics, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], General Medicine, Computer Science Applications, Human-Computer Interaction, Motor task, Data mining, business, computer, 030217 neurology & neurosurgery
Abstract

International audience; Learning a new motor task is characterized by improvements in movement smoothness and kinematics repeatability (Shmuelof et al., 2012). Hence, demonstrating biomechanical changes during the early phase of learning can be difficult due to high standard deviations that directly affect statistical analysis. Especially for curve analysis, timing variability results in wide corridor of normality. In addition, in the early phase of learning, each trial participates to the learning process, compromising the collection of redundant data. Besides, for further biomechanical analysis, curves selection/exclusion is often required, and is generally done manually based on a single parameter. The aim of this study was to investigate the interest of cluster analysis (i) to describe biomechanical changes during the early phase of learning manual wheelchair (MWC) locomotion and (ii) to define representative time courses of the locomotion parameters at different steps of the leaning process.

Published
2015

19. APSIC: Training and fitting amputees during situations of daily living

Author

J. Mille, Patricia Thoreux, Noël Martinet, Hélène Pillet, François Lavaste, Jean Paysant, Christophe Sauret, Nathalie Rapin, Coralie Villa, Xavier Drevelle, Francis Djian, P. Guérit, Pascale Fodé, Xavier Bonnet, Isabelle Loiret, Joseph Bascou, Laboratoire de biomécanique (LBM), Université Paris 13 (UP13)-Université Sorbonne Paris Cité (USPC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH), Centre d'Études Biologiques de Chizé - UMR 7372 (CEBC), La Rochelle Université (ULR)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), Centre National de la Recherche Scientifique (CNRS)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Sorbonne Paris Cité (USPC)-Université Paris 13 (UP13), CERAH, Institution Nationale des Invalides, Centre National de la Recherche Scientifique (CNRS)-Institut National de la Recherche Agronomique (INRA)-Université de La Rochelle (ULR), Institut Régional de Médecine Physique et de Réadaptation [Nancy] (IRR), Développement, Adaptation et Handicap. Régulations cardio-respiratoires et de la motricité. (DevAH), Université de Lorraine (UL), and Université de La Rochelle (ULR)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)

Subjects
Estimation, education.field_of_study, Engineering, Motion analysis, medicine.medical_specialty, Rehabilitation, business.industry, media_common.quotation_subject, medicine.medical_treatment, Population, Biomedical Engineering, Biophysics, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Prosthesis, Stairs, [SDE]Environmental Sciences, medicine, Physical therapy, education, business, Motor learning, Autonomy, Mécanique: Biomécanique [Sciences de l'ingénieur], media_common
Abstract

International audience; Today, the prevalence of major amputation in France can be estimated between 90,000 and 100,000 and the incidence is about 8300 new amputations per year (according to French National Authority for Health estimation). This prevalence is expected to increase in the next decade due to the ageing of the population. Even if prosthetic fitting allows amputee people recovering the walking ability, their autonomy remains limited when crossing obstacles such as slopes, stairs or cross-slopes frequently encountered during outdoors displacements. The aim of the project APSIC was to complete scientific knowledge about adaptation strategies to situations of daily living compared to level walking through an extensive motion analysis study of transtibial and transfemoral amputee compared to non-amputee people. APSIC succeeded in identifying physiologic joint functions and current prosthetic joint limitations in the studied situations, which notably resulted in the design of a prototype of ankle-knee prosthesis adapted to multimodal locomotion of transfemoral amputee. Perspectives of the clinical use of motion analysis within the rehabilitation process were explored and proved to be relevant for personalized approach of motor learning.

Published
2014

20. Whole limb push-off work in people with transtibial amputation during slope ascent

Author

Hélène Pillet, Coralie Villa, Xavier Bonnet, Boris Dauriac, Pascale Fodé, Joseph Bascou, Institut de Biomécanique Humaine Georges Charpak (IBHGC), Université Sorbonne Paris Nord-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), and Institution Nationale des Invalides - Centre d’Etudes et de Recherche sur l’Appareillage des Handicapés (INI/CERAH)

Subjects
medicine.medical_specialty, [SDV]Life Sciences [q-bio], 0206 medical engineering, Biomedical Engineering, Bioengineering, 02 engineering and technology, 03 medical and health sciences, 0302 clinical medicine, Gait (human), Physical medicine and rehabilitation, uphill walking, Transtibial amputation, medicine, Daily living, Below knee amputation, Energetic of gait, Work (physics), General Medicine, 020601 biomedical engineering, Computer Science Applications, Human-Computer Interaction, Push off, Sciences du vivant, below-knee amputation, Psychology, prosthetic foot, human activities, 030217 neurology & neurosurgery
Abstract

International audience; Unilateral transtibial amputation impairs locomotion, especially in daily living outdoor situations. As an example, slope ascent requires specific gait adjustments such as hip power generation during single support followed by ankle power generation during second double support. Hip extensor strengthening could help peo- ple with transtibial amputation for hip propulsion in slope ascent (Langlois et al. 2014). Energy storage and return (ESAR) foot-ankle prostheses have been designed to absorb and release elastic energy in an attempt to restore some functions of the amputated limb. However, it remains unclear how ESAR feet contribute to center of mass propulsion, especially during slope ascent. Simple models were recently developed to globally analyze gait in an energetic point of view by computing the center of mass mechanical work (Donelan et al. 2002; Kuo et al. 2005). Particularly, several hypoth- eses permit to estimate for each lower limb the whole limb push-off work during double support (Kuo et al. 2005). Using this approach, step-to-step transition was investigated during level walking, in able- bodied subjects wearing prosthetic foot (Caputo & Collins 2014) and in people with transtibial and transfemoral amputation (Houdijk et al. 2009; Bonnet et al. 2014), and in slopes in able-bodied subjects (Franz et al. 2012). Up to now, no study quantified prosthetic and contralateral push-off work during slope ascent in a below-knee amputee population. Thus, the aim of the study is to investigate center of mass mechanical work adjustments during the propulsion period during slope ascent for two inclinations of slopes compared to level walking in people with transtibial amputation.

Published
2015

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