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In this study, a minimal setup for the ankle joint kinematics estimation is proposed relying only on proximal information of the lower-limb, i.e. thigh muscles activity and joint kinematics. To this purpose, myoelectric activity of Rectus Femoris (RF), Biceps Femoris (BF), and Vastus Medialis (VM) were recorded by surface electromyography (sEMG) from six healthy subjects during unconstrained walking task. For each subject, the angular kinematics of hip and ankle joints were synchronously recorded with sEMG signal for a total of 288 gait cycles. Two feature sets were extracted from sEMG signals, i.e. time domain (TD) and wavelet (WT) and compared to have a compromise between the reliability and computational capacity, they were used for feeding three regression models, i.e. Artificial Neural Networks, Random Forest, and Least Squares - Support Vector Machine (LS-SVM). BF together with LS-SVM provided the best ankle angle estimation in both TD and WT domains (RMSE < 5.6 deg). The inclusion of Hip joint trajectory significantly enhanced the regression performances of the model (RMSE < 4.5 deg). Results showed the feasibility of estimating the ankle trajectory using only proximal and limited information from the lower limb which would maximize a potential transfemoral amputee user's comfortability while facing the challenge of having a small amount of information thus requiring robust data-driven models. These findings represent a significant step towards the development of a minimal setup useful for the control design of ankle active prosthetics and rehabilitative solutions.

Inertial measurement units are an efficient tool to estimate the orientation of a rigid body with respect to a global or navigation frame. Thanks to their relatively small scale, these devices are often employed in clinical environments in form of wearable devices. A direct consequence of this large use of inertial sensors has been the development of many sensor fusion techniques for pose estimation in many practical applications. In this paper we study the feasibility of a nonlinear "Unscented" variant of the well-known Kalman Filter for gyroscope/accelerometer sensor fusion in pelvis pose estimation during treadmill walking. In addition, orientation estimation has been obtained without IMU magnetometer data, in order to propose a method suitable also for environments where magnetic disturbances could arise. Pelvis heading (yaw), bank (roll) and attitude (pitch) angles have been evaluated both using the proposed filter and a gold standard optometric system. The root mean square errors obtained using the proposed sensor fusion with respect to the gold standard are below 1 degree for each axis, showing also a significant high correlation (> 0.90). Findings of this study highlight the suitability of a magnetometer-free UKF approach for pose estimation of pelvis during human walking on treadmill, providing information useful also for further estimation of center of mass displacement in the same experimental conditions.

Hemiplegia is a neurological disorder that is often detected in children with cerebral palsy. Although many studies have investigated muscular activity in hemiplegic legs, few EMG-based findings focused on unaffected limb. This study aimed to quantify the asymmetric behavior of lower-limb-muscle recruitment during walking in mild-hemiplegic children from surface-EMG and foot-floor contact features. sEMG signals from tibialis anterior (TA) and gastrocnemius lateralis and foot-floor contact data during walking were analyzed in 16 hemiplegic children classified as W1 according to Winter' scale, and in 100 control children. Statistical gait analysis, a methodology achieving a statistical characterization of gait by averaging surface-EMG-based features, was performed. Results, achieved in hundreds of strides for each child, indicated that in the hemiplegic side with respect to the non-hemiplegic side, W1 children showed a statistically significant: decreased number of strides with normal foot-floor contact; decreased stance-phase length and initial-contact sub-phase; curtailed, less frequent TA activity in terminal swing and a lack of TA activity at heel-strike. The acknowledged impairment of anti-phase eccentric control of dorsiflexors was confirmed in the hemiplegic side, but not in the contralateral side. However, a modified foot-floor contact pattern is evinced also in the contralateral side, probably to make up for balance requirements.

Muscular co-activation is a well-known mechanism for lower limb joint stabilization in both healthy and pathological individuals. This muscular feature appears particularly important for the knee joint, not only during challenging motor tasks such as cutting and landing but also during walking, due to knee cyclic loading. Gastrocnemius acts on the knee joint with a flexor activity and co-activations with quadriceps muscles lead to greater knee ligament strain with respect to an isolated burst of either muscle. Thus, this study aimed to assess possible co-activations between gastrocnemius and quadriceps muscles during walking. Five co-activation periods were assessed: during early stance (identified in 5.7 ± 5.1% of total strides), early and late foot-contact (88.9 ± 8.9% and 8.9 ± 8.2%), push-off (23.9 ± 12.2%) and late swing (29.0 ± 16.1%). Outcomes showed that late foot-contact and swing co-activations could deserve particular attention: in both cases the knee joint was close to the full extension (around 3.5° and 6°, respectively) and thus, considering also the anterior tibia translation due to the quadriceps activity, the simultaneous gastrocnemius burst could lead to an enhanced knee ligaments elongation. Findings of this study represent the first attempt to provide a reference knee joint co-activation framework, useful also for further evaluation in cohorts with knee failures., (Copyright © 2018 Elsevier Ltd. All rights reserved.)

Muscle co-contractions are particularly relevant in analyzing children pathologies. To interpret surface electromyography (sEMG) in pathological conditions, reliable normative data in non-pathological children are required for direct comparison. Aim of the study was the quantification of co-contraction activity between quadriceps femoris (QF) and hamstring muscles during walking in healthy children. To this aim, Statistical gait analysis was performed on sEMG signals from rectus femoris (RF), vastus medialis (VM), and lateral hamstrings (LH), in 16401 strides walked by 100 healthy school-age children. Co-contractions were assessed as overlapping period between activation intervals of considered muscles. Results showed full superimpositions of LH with both RF and VL activity from terminal swing, 80-100% of gait cycle, to successive loading response (0-15% of gait cycle), in around 90% of strides, as reported in adults. This indicates that children regularly use a cocontraction activity between QF and hamstring muscles in weight acceptance during walking, supporting the hypothesis of a regulatory role of co-contraction in providing knee joint stability. Concomitant activity of QF and hamstring muscles was detected also during push-off phase (30-50% of gait cycle), showing a large variability intra and inter subjects and a lower occurrence frequency (around 25% of strides). This could be intended for controlling rapid knee flexion and/or stabilizing pelvis during body progression. Present findings represent the first attempt to provide normative sEMG dataset on variability of QF and hamstring muscles co-contractions during child walking, useful for discriminating physiological and pathological behavior and for designing future studies on maturation of gait., (Copyright © 2018 Elsevier B.V. All rights reserved.)

Objective: The purpose of the study was the assessment of activation patterns of the extensor digitorum brevis (EDB) muscle in healthy children, during walking at self-selected speed and cadence., Approach: To this end, statistical gait analysis was performed on surface electromyographic (sEMG) signals of the EDB, in a large number (hundreds) of strides per subject. sEMG data from the tibialis anterior (TA) and gastrocnemius lateralis (GL) were also investigated for comparative purposes., Main Results: Results from 23 healthy children showed a large variability in the number of muscle activations, occurrence frequency, and onset-offset instants across considered strides. The assessment of different modalities of muscle activation allowed the identification of a single activity pattern, common to all the modalities and we were able to characterize the behavior of the EDB during the gait of healthy children. The pattern of EDB activity centered in two main regions of the gait cycle: in the second half of the stance phase (detected in 100% of subjects) and in the final swing phase (50%). Comparison with the TA and GL regions of activity suggested that the EDB and TA worked mainly as antagonist muscles for the ankle joint, while the EDB and GL did not oppose each other in action, but acted in synergy for the control of the ankle joint during walking., Significance: The 'Normality' pattern for the EDB activity reported here represents the first attempt to develop a reference for dynamic sEMG of the EDB in healthy children, enabling us to include the physiological variability of the phenomenon. Present results could be useful for discriminating physiological and pathological behavior in children and for deepening the maturation of the gait.

Natural variability of myoelectric activity during walking was recently analyzed considering hundreds of strides. This allowed assessing a parameter seldom considered in classic surface EMG (sEMG) studies: the occurrence frequency, defined as the frequency each muscle activation occurs with, quantified by the number of strides when a muscle is recruited with that specific activation modality. Aim of present study was to propose the occurrence frequency as a new parameter for assessing sEMG-signal variability during walking. Aim was addressed by processing sEMG signals acquired from Gastrocnemius Lateralis, Tibialis Anterior, Rectus Femoris and Biceps femoris in 40 healthy subjects in order to: (1) show that occurrence frequency is not correlated with ON/OFF instants (R mean =0.11±0.07; P>0.05) and total time of activation (R mean =0.15±0.08; P>0.05); (2) confirm the above results by two handy examples of application (analysis of gender and age) which highlighted that significant (P<0.05) gender-related and age-related differences within population were detected in occurrence frequency, but not in temporal sEMG parameters. In conclusion, present study demonstrated that occurrence frequency is able to provide further information, besides those supplied by classical temporal sEMG parameters and thus it is suitable to complement them in the evaluation of variability of myoelectric activity during walking., (Copyright © 2017 Elsevier Ltd. All rights reserved.)

Analysis of muscle co-contractions seems to be relevant in the characterization of children pathologies such as spastic cerebral palsy. The aim of the study was the quantification of thigh-muscle co-contractions during walking in healthy children. To this aim, the Statistical Gait Analysis, a recent methodology providing a statistical characterization of gait, was performed on surface EMG signals from Vastus Medialis (VM) and Lateral Hamstrings (LH) in 30 healthy 6-to-8-year-old children. Muscular co-contraction was assessed as the overlapping period between activation intervals of agonist and antagonist muscles. As in adults, VM activity occurring from terminal swing to the following loading response superimposed LH activity in the same percentage of the gait cycle. This co-contraction occurred in order to control knee joint stability during weight acceptance. It was acknowledged in the totality (100 %) of the considered strides. Concomitant activity of VM and LH was detected also in the second half of stance phase in 17.1 ± 4.8 % of the considered strides. Working VM and LH on different joints, this concomitant activity of antagonist muscles should not be considered as an actual co-contraction. Present findings provide new information on the variability of the reciprocal role of VM and LH during child walking, useful for comparison between normal and pathological walking in the clinical context and for designing future studies on maturation of gait.

EMG-based differences between females and males during walking are generally acknowledged in adults. Aim of the study was the quantification of possible gender differences in myoelectric activity of gastrocnemius lateralis (GL) and tibialis anterior (TA) during walking in school-age children. Gender-related comparison with adults was also provided to get possible novel insight in maturation of gait. To this aim, Statistical gait analysis, a recent methodology performing a statistical characterization of gait by averaging spatial-temporal and surface-EMG-based parameters over hundreds of strides, was performed in100 healthy school-age children (C-group) and in 33 healthy young adults (YA-group). On average, 301±110 consecutive strides were analyzed for each subject. In C-group, no significant differences (p>0.05) were observed between females and males in GL and TA, considering mean onset/offset instants of activation and occurrence frequency. Stratifying the C-group for age, small differences between females and males in occurrence frequency of GL arose in oldest children. In YA-group, females showed a significant propensity for a more complex recruitment of TA and GL (higher number of activations during gait cycle, quantified by occurrence frequency) compared to males. These outcomes suggest that gender-related differences in sEMG parameters do not characterize the recruitment of GL and TA during child walking in early years (6-8 years), start occurring when adolescence is approaching (10-12 years), and are acknowledged in both ankle muscles only in adults. Present findings seem to support previous studies on maturation of gait which indicate adolescence as the time-range where gait is completing its maturation path., (Copyright © 2017 Elsevier B.V. All rights reserved.)

The research purpose was to quantify the co-contraction patterns of quadriceps femoris (QF) vs. hamstring muscles during free walking, in terms of onset-offset muscular activation, excitation intensity, and occurrence frequency. Statistical gait analysis was performed on surface-EMG signals from vastus lateralis (VL), rectus femoris (RF), and medial hamstrings (MH), in 16315 strides walked by 30 healthy young adults. Results showed full superimpositions of MH with both VL and RF activity from terminal swing, 80 to 100% of gait cycle (GC), to the successive loading response (≈0-15% of GC), in around 90% of the considered strides. A further superimposition was detected during the push-off phase both between VL and MH activation intervals (38.6±12.8% to 44.1±9.6% of GC) in 21.9±13.6% of strides, and between RF and MH activation intervals (45.9±5.3% to 50.7±9.7 of GC) in 32.7±15.1% of strides. These findings led to identify three different co-contractions among QF and hamstring muscles during able-bodied walking: in early stance (in ≈90% of strides), in push-off (in 25-30% of strides) and in terminal swing (in ≈90% of strides). The co-contraction in terminal swing is the one with the highest levels of muscle excitation intensity. To our knowledge, this analysis represents the first attempt for quantification of QF/hamstring muscles co-contraction in young healthy subjects during normal gait, able to include the physiological variability of the phenomenon., (Copyright © 2016 Elsevier B.V. All rights reserved.)

"In vivo" studies reported that the co-activation of gastrocnemius and quadriceps femoris (QF) muscles produces ACL strain values greater than those caused by an isolated activation of either muscle. Aim of this study was to assess the co-activation of gastrocnemius (lateral head, GL) and vastus lateralis (VL) in healthy and young adults during walking. To this purpose the Statistical Gait Analysis was performed, that allows a characterization of gait considering hundreds of strides belonging to the same walking trial. Three GL/VL co-activations were detected during a single gait cycle: in foot-contact phase, from 6.8±8.5% to 22.9±23.3% of gait cycle, (FC co-activation), in push-off phase, from 33.0±11.9% to 41.5±13.4% (PO co-activation), and in swing phase, from 86.5±6.7% to 93.2±5.9% (SW co-activation). FC co-activation was the most recurrent (in 100% of the strides, P<;0.001) and longest (16% of gait cycle) one. Thus, the ACL strain due to the co-activation between GL and VL is longer and more frequently during FC phase, than in all the others gait phases. Moreover, the position of the knee and the amount of the weight-bearing on knee, achieved in this gait phase, suggested that FC co-activation is the one that produces a highest strain value of anterior cruciate ligament (ACL). These findings could help to better understand risk factors of the ACL injuries and to design more focused preventive and rehabilitative strategies.

The purpose of the present study was the quantification of the co-activation patterns of the knee extensor and flexor muscles during walking at self-selected speed and cadence. To this aim, the Statistical Gait Analysis, a recent methodology providing a statistical characterization of gait, was performed on surface EMG signals from Vastus Lateralis (VL) and Medial Hamstrings (MH) in 14 healthy young adult subjects. Muscular co-contraction was assessed as the overlapping period between activation intervals of agonist and antagonist muscles. Superimpositions between VL and MH activity were detected from terminal swing to the following loading response in 100% of the considered strides. This superimposition could be intended as an actual co-contraction of VL and MH, working across the same joint, the knee. It occurs in this gait phase likely in order to assist knee extension, developing muscle tension for weight acceptance during loading response, and to control knee flexion. A further less frequent (28.9±13.6% of the strides, P<;0.001) superimposition was detected in terminal stance; this superimposition, however, should not be considered a real co-contraction, because VL and MH work on different joints. These findings have the merit to provide a novel data on the variability of the reciprocal role of VL and MH during walking, allowing a deeper insight in the physiological mechanisms that regulate the knee flexion/extension.

The study was designed to assess the natural variability of the activation modalities of vastus medialis (VM) and vastus lateralis (VL) during walking at a self-selected speed and cadence of 30 young, healthy, females. This was achieved by conducting statistical gait analysis on the surface electromyographic signals from hundreds of strides for each subject. Results revealed variability in the number of activations, occurrence frequency, and onset-offset instants across the thousands of strides analyzed. However, despite the variability, there was one activation occurrence which remained consistent across subjects for both VM and VL. This occurred from terminal swing to the following loading response (observed in 100% of strides). A second, less frequent, activation occurred between mid-stance up to pre-swing (observed in 39.3±22.4% of strides for VM and in 35.1±20.6% for VL). No significant differences (p>0.05) were observed in the onset-offset instants or in the occurrence frequency, which suggest a simultaneous recruitment of VM and VL. This "normality" pattern represents the first attempt at developing a reference frame for vastii sEMG activity during walking, that is able to include the physiological variability of the phenomenon and control the confounding effects of age and gender., (Copyright © 2015 Elsevier Ltd. All rights reserved.)

Many studies have recently addressed the quantification of the natural variability of myoelectric activity during walking, considering hundreds of strides. The availability of so many strides allows assessing a parameter seldom considered in classic surface EMG (sEMG) studies: the occurrence frequency, defined as the frequency each muscle activation occurs with, quantified by the number of strides in which a muscle is recruited with that specific activation modality. Aim of this study is to point out the occurrence frequency as a suitable parameter for the evaluation of the variability of the myoelectric activity during walking. This goal was pursued by means of the statistical gait analysis of sEMG signal acquired from Gastrocnemius Lateralis (GL) in six healthy subjects, with different characteristics. Results show that among these six subjects relevant differences were not detected in the temporal parameters, i.e., activation onset/offset instant and activation duration. In the same subjects, the values of the occurrence frequency ranged from 3% to 74% in the different activation modalities, indicating a large variability of this parameter. These findings show that occurrence frequency is able to provide further and different information with respect to classical temporal parameters. Thus, the occurrence frequency is proposed as a suitable parameter to support the classic temporal parameters in the evaluation of variability of myoelectric activity during walking.