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Efficient early diagnosis is paramount in addressing the complexities of Parkinson's disease because timely intervention can substantially mitigate symptom progression and improve patient outcomes. In this paper, we present a pioneering deep learning architecture tailored for the binary classification of subjects, utilizing gait cycle datasets to facilitate early detection of Parkinson's disease. Our model harnesses the power of 1D-Convolutional Neural Networks (CNN), Gated Recurrent Units (GRU), and Graph Neural Network (GNN) layers, synergistically capturing temporal dynamics and spatial relationships within the data. In this work, 16 wearable sensors located at the end of subjects' shoes for measuring the vertical Ground Reaction Force (vGRF) are considered as the vertices of a graph, their adjacencies are modelled as edges of this graph, and finally, the measured data of each sensor is considered as the feature vector of its corresponding vertex. Therefore, The GNN layers can extract the relations among these sensors by learning proper representations. Regarding the dynamic nature of these measurements, GRU and CNN are used to analyze them spatially and temporally and map them to an embedding space. Remarkably, our proposed model achieves exceptional performance metrics, boasting accuracy, precision, recall, and F1 score values of 99.51%, 99.57%, 99.71%, and 99.64%, respectively.

Knee kinematics during gait is an important assessment tool in health-promotion and clinical fields. This study aimed to determine the validity and reliability of a wearable goniometer sensor for measuring knee flexion angles throughout the gait cycle. Twenty-two and seventeen participants were enrolled in the validation and reliability study, respectively. The knee flexion angle during gait was assessed using a wearable goniometer sensor and a standard optical motion analysis system. The coefficient of multiple correlation (CMC) between the two measurement systems was 0.992 +/- 0.008. Absolute error (AE) was 3.3 +/- 1.5 degrees (range: 1.3-6.2 degrees) for the entire gait cycle. An acceptable AE (<5 degrees) was observed during 0-65% and 87-100% of the gait cycle. Discrete analysis revealed a significant correlation between the two systems (R = 0.608-0.904, p <= 0.001). The CMC between the two measurement days with a 1-week interval was 0.988 +/- 0.024, and the AE was 2.5 +/- 1.2 degrees (range: 1.1-4.5 degrees). A good-to-acceptable AE (<5 degrees) was observed throughout the gait cycle. These results indicate that the wearable goniometer sensor is useful for assessing knee flexion angle during the stance phase of the gait cycle.

Knee kinematics during gait is an important assessment tool in health-promotion and clinical fields. This study aimed to determine the validity and reliability of a wearable goniometer sensor for measuring knee flexion angles throughout the gait cycle. Twenty-two and seventeen participants were enrolled in the validation and reliability study, respectively. The knee flexion angle during gait was assessed using a wearable goniometer sensor and a standard optical motion analysis system. The coefficient of multiple correlation (CMC) between the two measurement systems was 0.992 +/- 0.008. Absolute error (AE) was 3.3 +/- 1.5 degrees (range: 1.3-6.2 degrees) for the entire gait cycle. An acceptable AE (<5 degrees) was observed during 0-65% and 87-100% of the gait cycle. Discrete analysis revealed a significant correlation between the two systems (R = 0.608-0.904, p <= 0.001). The CMC between the two measurement days with a 1-week interval was 0.988 +/- 0.024, and the AE was 2.5 +/- 1.2 degrees (range: 1.1-4.5 degrees). A good-to-acceptable AE (<5 degrees) was observed throughout the gait cycle. These results indicate that the wearable goniometer sensor is useful for assessing knee flexion angle during the stance phase of the gait cycle.

Knee kinematics during gait is an important assessment tool in health-promotion and clinical fields. This study aimed to determine the validity and reliability of a wearable goniometer sensor for measuring knee flexion angles throughout the gait cycle. Twenty-two and seventeen participants were enrolled in the validation and reliability study, respectively. The knee flexion angle during gait was assessed using a wearable goniometer sensor and a standard optical motion analysis system. The coefficient of multiple correlation (CMC) between the two measurement systems was 0.992 +/- 0.008. Absolute error (AE) was 3.3 +/- 1.5 degrees (range: 1.3-6.2 degrees) for the entire gait cycle. An acceptable AE (<5 degrees) was observed during 0-65% and 87-100% of the gait cycle. Discrete analysis revealed a significant correlation between the two systems (R = 0.608-0.904, p <= 0.001). The CMC between the two measurement days with a 1-week interval was 0.988 +/- 0.024, and the AE was 2.5 +/- 1.2 degrees (range: 1.1-4.5 degrees). A good-to-acceptable AE (<5 degrees) was observed throughout the gait cycle. These results indicate that the wearable goniometer sensor is useful for assessing knee flexion angle during the stance phase of the gait cycle.

Predicting lower limb motion intent is vital for controlling exoskeleton robots and prosthetic limbs. Surface electromyography (sEMG) attracts increasing attention in recent years as it enables ahead-of-time prediction of motion intentions before actual movement. However, the estimation performance of human joint trajectory remains a challenging problem due to the inter- and intra-subject variations. The former is related to physiological differences (such as height and weight) and preferred walking patterns of individuals, while the latter is mainly caused by irregular and gait-irrelevant muscle activity. This paper proposes a model integrating two gait cycle-inspired learning strategies to mitigate the challenge for predicting human knee joint trajectory. The first strategy is to decouple knee joint angles into motion patterns and amplitudes former exhibit low variability while latter show high variability among individuals. By learning through separate network entities, the model manages to capture both the common and personalized gait features. In the second, muscle principal activation masks are extracted from gait cycles in a prolonged walk. These masks are used to filter out components unrelated to walking from raw sEMG and provide auxiliary guidance to capture more gait-related features. Experimental results indicate that our model could predict knee angles with the average root mean square error (RMSE) of 3.03(0.49) degrees and 50ms ahead of time. To our knowledge this is the best performance in relevant literatures that has been reported, with reduced RMSE by at least 9.5%.

´[Abstract] Background: Hallux limitus is a common foot disorder whose incidence has increased in the school-age population. Hallux limitus is characterized by musculoskeletal alteration that involves the metatarsophalangeal joint causing structural disorders in different anatomical areas of the locomotor system, affecting gait patterns. The aim of this study was to analyze dynamic plantar pressures in a school-aged population both with functional hallux and without. Methods: A full sample of 100 subjects (50 male and 50 female) 7 to 12 years old was included. The subjects were identified in two groups: the case group (50 subjects characterized as having hallux limitus, 22 male and 28 female) and control group (50 subjects characterized as not having hallux limitus, 28 male and 22 female). Measurements were obtained while subjects walked barefoot in a relaxed manner along a baropodometric platform. The hallux limitus test was realized in a seated position to sort subjects out into an established study group. The variables checked in the research were the surface area supported by each lower limb, the maximum peak pressure of each lower limb, the maximum mean pressure of each lower limb, the body weight on the hallux of each foot, the body weight on the first metatarsal head of each foot, the body weight at the second metatarsal head of each foot, the body weight at the third and fourth metatarsal head of each foot, the body weight at the head of the fifth metatarsal of each foot, the body weight at the midfoot of each foot, and the body weight at the heel of each foot. Results: Non-significant results were obtained in the variable of pressure peaks between both study groups; the highest pressures were found in the hallux with a p-value of 0.127 and in the first metatarsal head with a p-value 0.354 in subjects with hallux limitus. A non-significant result with a p-value of 0.156 was obtained at the second metatarsal head in healthy subjects. However, significant resu

The aim of this project is to develop a method to further analyse the characteristic walking patterns of patients with neurodegenerative disease Chronic Idiopathic Demyelinating Polyneuropathy (CIDP), in terms of morphological aspects and classification of walking characteristics. The data were obtained through the Ephion Mobility System and the performance of the 2-Minute Walk Test (2MWT), through the clinical study led by the Hospital de Sant Pau de Barcelona. The data studied in the project consist of 30 tests of subjects participating in the clinical study, through which they are broken down into 60 tests for the evaluation of the values obtained through the sensors on the left and right side of the patient's body. The variables are obtained specifically from sensors applied to the insoles of the patient's shoes for the execution of the functional test, as well as sensors applied to the thighs and knees. The presence of a morphological difference in the predominant gait cycles in patients with CIDP is determined, and patterns are evaluated based on the gait characteristics they exhibit. Simultaneously, we determine the signals and variables for the subsequent classification of the tests based on the level of ataxia or steppage that the patients present, and we evaluate the most robust method for data classification performance, La finalitat d'aquest projecte és desenvolupar un mètode per analitzar més profundament els patrons de marxa característics de pacients que presenten malaltia neurodegenerativa Polineuropatia Desmielinitzant Idiopàtica Crònica (CIDP), entorn aspectes morfològics i classificació de característiques de la marxa. Les dades s'han obtingut a través del Sistema Ephion Mobility i la realització de 2-Minute Walk Test (2MWT), a través de l'estudi clínic liderat per l'Hospital de Sant Pau de Barcelona. Les dades estudiades en el projecte consten de 30 tests de subjectes que participen en l'estudi clínic, a través del qual es desglossen en 60 tests per a l'avaluació dels valors assolits a través dels sensors de l'esquerra i dreta del cos del pacient. Les variables empleades s'obtenen concretament dels sensors, aplicats a les plantilles que s'incorporen en les sabates dels pacients per a l'execució del test funcional i els sensors aplicats a les articulacions dels turmells i els genolls. Es determina l'existència d'una diferència morfològica dels cicles de marxa predominant en pacients amb CIDP i s'avaluen patrons segons les característiques de marxa que aquests presenten. Alhora, es determinen els senyals i variables determinants per a la posterior classificació dels tests segons el nivell d'atàxia o steppage que els pacients presenten i es determina el mètode més robust per a la realització de la classificació de les dades

Many people experience discomfort during movement when using a knee prosthesis. As a result, a study is being conducted to see if biomedical models can be used to produce an optimal prosthetic socket to reduce discomfort. This has previously been accomplished using pressure sensors embedded in the sleeve to measure leg pressure at various stages of the gait cycle. To gather more information, an EEG should be performed to find where discomfort occurs throughout a gait cycle. The purpose of the EEG is to perform measurements for a certain time during walking to then be able to analyze the signals that occur from the brain's motor cortex. The signal analysis is performed by applying the Fast Fourier transform to convert EEG data from the time domain to the frequency domain. By examining frequency differences, it is demonstrated that additional measurements with more individuals are required to ensure that the results reflect discomfort, and that the EEG is useful in the applied field of use., Vid användning av knäproteser upplever ett stort antal personer obehag vid rörelse. På grund av detta utförs det en studie där man genom biomedicinska modeller kan producera den optimala proteshylsan för att minska obehag. Detta har tidigare gjorts med trycksensorer placerade i hylsan, för att kunna mäta tryck från benet vid olika faser av en gångcykel. EEG ska användas för att få mer information var det uppstår obehag under en gångcykel. Syftet med EEG är att genomföra mätningar under en viss tid vid gång, för att sedan kunna analysera signalerna från hjärnans motoriska cortex. Signalanalysen sker genom att transformera EEG-data från tidsdomänen till frekvensdomänen med hjälp av Snabb Fourier transform. Genom att undersöka frekvensskillnader påvisas att ytterligare mätningar med fler individer krävs för att säkerställa att resultaten återspeglar obehag och att EEG är användbart inom det tillämpade användningsområdet., This work was supported by the research project SocketSense (https://www.socketsense.eu/), funded by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 825429

Many people experience discomfort during movement when using a knee prosthesis. As a result, a study is being conducted to see if biomedical models can be used to produce an optimal prosthetic socket to reduce discomfort. This has previously been accomplished using pressure sensors embedded in the sleeve to measure leg pressure at various stages of the gait cycle. To gather more information, an EEG should be performed to find where discomfort occurs throughout a gait cycle. The purpose of the EEG is to perform measurements for a certain time during walking to then be able to analyze the signals that occur from the brain's motor cortex. The signal analysis is performed by applying the Fast Fourier transform to convert EEG data from the time domain to the frequency domain. By examining frequency differences, it is demonstrated that additional measurements with more individuals are required to ensure that the results reflect discomfort, and that the EEG is useful in the applied field of use., Vid användning av knäproteser upplever ett stort antal personer obehag vid rörelse. På grund av detta utförs det en studie där man genom biomedicinska modeller kan producera den optimala proteshylsan för att minska obehag. Detta har tidigare gjorts med trycksensorer placerade i hylsan, för att kunna mäta tryck från benet vid olika faser av en gångcykel. EEG ska användas för att få mer information var det uppstår obehag under en gångcykel. Syftet med EEG är att genomföra mätningar under en viss tid vid gång, för att sedan kunna analysera signalerna från hjärnans motoriska cortex. Signalanalysen sker genom att transformera EEG-data från tidsdomänen till frekvensdomänen med hjälp av Snabb Fourier transform. Genom att undersöka frekvensskillnader påvisas att ytterligare mätningar med fler individer krävs för att säkerställa att resultaten återspeglar obehag och att EEG är användbart inom det tillämpade användningsområdet., This work was supported by the research project SocketSense (https://www.socketsense.eu/), funded by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 825429

The ability of humans to coordinate stereotyped, alternating movements between the two legs during bipedal walking is a complex motor behavior that requires precisely timed activities across multiple nodes of the supraspinal network. Understanding of the neural network dynamics that underlie natural walking in humans is limited. We investigated cortical and subthalamic neural activities during overground walking and evaluated spectral biomarkers to decode the gait cycle in three patients with Parkinson's disease without gait disturbances. Patients were implanted with chronic bilateral deep brain stimulation (DBS) leads in the subthalamic nucleus (STN) and electrocorticography paddles overlaying the primary motor and somatosensory cortices. Local field potentials were recorded from these areas while the participants performed overground walking and synchronized to external gait kinematic sensors. We found that the STN displays increased low-frequency (4-12 Hz) spectral power during the period before contralateral leg swing. Furthermore, STN shows increased theta frequency (4-8 Hz) coherence with the primary motor through the initiation and early phase of contralateral leg swing. Additional analysis revealed that each patient had specific frequency bands that could detect a significant difference between left and right initial leg swing. Our findings indicate that there are alternating spectral changes between the two hemispheres in accordance with the gait cycle. In addition, we identified patient-specific, gait-related biomarkers in both the STN and cortical areas at discrete frequency bands that may be used to drive adaptive DBS to improve gait dysfunction in patients with Parkinson's disease.

A biped dynamic walker with two legs and two feet capable of walking in double support phase and allowing starting the gait cycle from rest position is proposed. The walker is actuated at the ankle joints alone with no hip actuator, fully actuated in double support phase, and unactuated in single support phase. Assuming a static configuration at the start of each single support phase, fixed point information for the gait cycle at various step lengths is extracted and represented with four parameters of a cubic polynomial. This is used as the end configuration for the position controller’s reference target in the double support phase. Actuation at the ankles considers the unilateral constraints at the front and rear feet. Even with trajectory tracking controller, low cost of transport is achieved by ensuring no negative power inputs during actuation. A proportional feedback controller is employed for cycle convergence, and the stability of gait cycles, disturbance handling, and energetic efficiency for various step lengths is shown through simulations. © 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

A biped dynamic walker with two legs and two feet capable of walking in double support phase and allowing starting the gait cycle from rest position is proposed. The walker is actuated at the ankle joints alone with no hip actuator, fully actuated in double support phase, and unactuated in single support phase. Assuming a static configuration at the start of each single support phase, fixed point information for the gait cycle at various step lengths is extracted and represented with four parameters of a cubic polynomial. This is used as the end configuration for the position controller’s reference target in the double support phase. Actuation at the ankles considers the unilateral constraints at the front and rear feet. Even with trajectory tracking controller, low cost of transport is achieved by ensuring no negative power inputs during actuation. A proportional feedback controller is employed for cycle convergence, and the stability of gait cycles, disturbance handling, and energetic efficiency for various step lengths is shown through simulations. © 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

A biped dynamic walker with two legs and two feet capable of walking in double support phase and allowing starting the gait cycle from rest position is proposed. The walker is actuated at the ankle joints alone with no hip actuator, fully actuated in double support phase, and unactuated in single support phase. Assuming a static configuration at the start of each single support phase, fixed point information for the gait cycle at various step lengths is extracted and represented with four parameters of a cubic polynomial. This is used as the end configuration for the position controller’s reference target in the double support phase. Actuation at the ankles considers the unilateral constraints at the front and rear feet. Even with trajectory tracking controller, low cost of transport is achieved by ensuring no negative power inputs during actuation. A proportional feedback controller is employed for cycle convergence, and the stability of gait cycles, disturbance handling, and energetic efficiency for various step lengths is shown through simulations. © 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

A biped dynamic walker with two legs and two feet capable of walking in double support phase and allowing starting the gait cycle from rest position is proposed. The walker is actuated at the ankle joints alone with no hip actuator, fully actuated in double support phase, and unactuated in single support phase. Assuming a static configuration at the start of each single support phase, fixed point information for the gait cycle at various step lengths is extracted and represented with four parameters of a cubic polynomial. This is used as the end configuration for the position controller’s reference target in the double support phase. Actuation at the ankles considers the unilateral constraints at the front and rear feet. Even with trajectory tracking controller, low cost of transport is achieved by ensuring no negative power inputs during actuation. A proportional feedback controller is employed for cycle convergence, and the stability of gait cycles, disturbance handling, and energetic efficiency for various step lengths is shown through simulations. © 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

Accelerometer signals generated through gait present a new frontier of human interface with mobile devices. Gait cycle detection based on these signals has applications in various areas, including authentication, health monitoring, and activity detection. Template-based studies focus on how the entire gait cycle represents walking patterns, but these are compute-intensive. Aggregate feature-based studies extract features in the time domain and frequency domain from the entire gait cycle to reduce the number of features. However, these methods may miss critical structural information needed to appropriately represent the intricacies of walking patterns. To the best of our knowledge, no study has formally proposed a structure to capture variations within gait cycles or phases from accelerometer readings. We propose a new structure named the PQRST Complex, which corresponds to the swing phase in a gait cycle and matches the foot movements during this phase, thus capturing the changes in foot position. In our experiments, based on the nine features derived from this structure, the accelerometer-based gait authentication system outperforms many state-of-the-art gait cycle-based authentication systems. Our work opens up a new paradigm of capturing the structure of gait and opens multiple areas of research and practice using gait analogous to the "QRS complex" structure of ECG signals related to the heart.

Rehabilitation with exoskeletons after hip joint replacement is a tendency to achieve efficient recovery of people to rebuild their human motor functions. However, the kinematic mismatch between the kinematic and biological hip is a problem in most existing exoskeletons that can cause additional stress in the hip. To avoid secondary damage, the misalignment between the mechanical and biological hip joint of an exoskeleton must be compensated. This paper introduces a novel hip exoskeleton system based on parallel structure. The exoskeleton can inherently address the kinematic mismatch by introducing additional kinematic redundancy, while requiring no additional kinematic components and volumes. To achieve bidirectional full-gait-cycle walking assistance, a remote actuation system is designed for power delivery, and a control scheme is proposed to reject disturbances caused by gait dynamics during walking exercises. Human testing was carried out to evaluate the performance of the system. The results show that the exoskeleton has good human-machine kinematic compatibility and can achieve promising force tracking in the presence of gait dynamics., QC 20220916

Running gait cycle begins when one foot comes in contact with the ground and ends when the same foot contacts the ground again. In a running gait cycle each lower limb has a stance phase and a swing phase. During the stance phase eversion of the subtalar joint is one of the mechanisms used to absorb impact forces. However, excessive rearfoot eversion may contribute to overuse running injuries of the lower limb. It is necessary to provide additional insight on sex differences or differences between dominant and non-dominant limbs in the different phases of the running gait cycle, as well as in the movements of the subtalar joint in the coronal plane. Therefore, the aim of the current study was to determine bilateral asymmetries, sex differences and peak eversion angle in the running gait cycle of recreational runners. 20 recreational runners aged 20 – 28 years (10 males and 10 females) were recorded on a treadmill at a running speed between 11 km/h and 12 km/ h with high speed camera at 300 Hz. Males and females showed no significant differences between limbs in any of the variables of interest, indicating no bilateral asymmetries in running gait cycle. Female runners demonstrated a greater time to peak eversion than male runners (36.92 ± 5.79% vs 26.37 ± 5.12%, p < .01) and this may be related to some overuse running injuries that are more prevalent in females. The data obtained in this study may serve as a useful reference for future research., Un ciclo de carrera comienza cuando un pie contacta con el suelo y termina cuando el mismo pie contacta con el suelo de forma consecutiva. En un ciclo de carrera cada extremidad inferior tiene una fase de apoyo y una fase de vuelo. Durante la fase de apoyo la pronación de la articulación subastragalina es uno de los mecanismos para absorber las fuerzas de impacto. Sin embargo, una excesiva pronación puede predisponer a lesiones por sobreuso de la extremidad inferior. Son necesarias investigaciones adicionales sobre las diferencias por sexos y las asimetrías en las diferentes fases del ciclo de carrera, así como en los movimientos de la articulación subastragalina. Por tanto, el propósito del presente estudio fue determinar las asimetrías, las diferencias por sexos y la máxima pronación en un ciclo de carrera de corredores recreativos. 20 corredores recreativos de entre 20 y 28 años (10 hombres y 10 mujeres) fueron grabados corriendo en tapiz rodante entre 11 km/h y 12 km/h con una cámara de alta velocidad a 300 Hz. No existieron asimetrías en el ciclo de carrera pues no se encontraron diferencias significativas entre la pierna dominante y la no dominante en ninguna variable. La máxima pronación fue más tardía en mujeres que en hombres (36.92 ± 5.79% vs 26.37 ± 5.12%, p < .01), lo que puede estar relacionado con la mayor prevalencia de ciertas lesiones de la extremidad inferior en mujeres. Los resultados obtenidos en este estudio pueden servir de referencia para futuras investigaciones.

Total knee arthroplasty is on the rise worldwide. Despite its success, revision surgeries are also increasing. According to the American Joint Replacement Registry 2020, 3.3% of revision surgeries are due to wear, and 24.2% are due to mechanical loosening. The combination of shear stresses and wear particles occurring at the bone/implant interface can lead to local osteolysis. Although the shear stresses are partially driven by joint friction, relatively little is known about the evolution of the coefficient of friction (CoF) during a gait cycle in total knee replacement. Here we describe the CoF during a gait cycle and investigate its association with kinematics (slide–roll-ratio), applied load, and relative velocity. The artificial knee was simulated by cobalt–chromium condyle on a flat ultra-high-molecular-weight polyethylene (UHMWPE) tibial plateau, lubricated by either water or proteinaceous solution. We found that the CoF is not a constant but fluctuates between the values close to 0 and 0.15. Cross-correlation suggested that this is primarily an effect of the slide–roll ratio and the contact pressure. There was no difference in the CoF between water and proteinaceous solution. Knowledge about the CoF behavior during a gait cycle will help to increase the accuracy of future computational models of total knee replacement.

Total knee arthroplasty is on the rise worldwide. Despite its success, revision surgeries are also increasing. According to the American Joint Replacement Registry 2020, 3.3% of revision surgeries are due to wear, and 24.2% are due to mechanical loosening. The combination of shear stresses and wear particles occurring at the bone/implant interface can lead to local osteolysis. Although the shear stresses are partially driven by joint friction, relatively little is known about the evolution of the coefficient of friction (CoF) during a gait cycle in total knee replacement. Here we describe the CoF during a gait cycle and investigate its association with kinematics (slide–roll-ratio), applied load, and relative velocity. The artificial knee was simulated by cobalt–chromium condyle on a flat ultra-high-molecular-weight polyethylene (UHMWPE) tibial plateau, lubricated by either water or proteinaceous solution. We found that the CoF is not a constant but fluctuates between the values close to 0 and 0.15. Cross-correlation suggested that this is primarily an effect of the slide–roll ratio and the contact pressure. There was no difference in the CoF between water and proteinaceous solution. Knowledge about the CoF behavior during a gait cycle will help to increase the accuracy of future computational models of total knee replacement.

Total knee arthroplasty is on the rise worldwide. Despite its success, revision surgeries are also increasing. According to the American Joint Replacement Registry 2020, 3.3% of revision surgeries are due to wear, and 24.2% are due to mechanical loosening. The combination of shear stresses and wear particles occurring at the bone/implant interface can lead to local osteolysis. Although the shear stresses are partially driven by joint friction, relatively little is known about the evolution of the coefficient of friction (CoF) during a gait cycle in total knee replacement. Here we describe the CoF during a gait cycle and investigate its association with kinematics (slide–roll-ratio), applied load, and relative velocity. The artificial knee was simulated by cobalt–chromium condyle on a flat ultra-high-molecular-weight polyethylene (UHMWPE) tibial plateau, lubricated by either water or proteinaceous solution. We found that the CoF is not a constant but fluctuates between the values close to 0 and 0.15. Cross-correlation suggested that this is primarily an effect of the slide–roll ratio and the contact pressure. There was no difference in the CoF between water and proteinaceous solution. Knowledge about the CoF behavior during a gait cycle will help to increase the accuracy of future computational models of total knee replacement.

Total knee arthroplasty is on the rise worldwide. Despite its success, revision surgeries are also increasing. According to the American Joint Replacement Registry 2020, 3.3% of revision surgeries are due to wear, and 24.2% are due to mechanical loosening. The combination of shear stresses and wear particles occurring at the bone/implant interface can lead to local osteolysis. Although the shear stresses are partially driven by joint friction, relatively little is known about the evolution of the coefficient of friction (CoF) during a gait cycle in total knee replacement. Here we describe the CoF during a gait cycle and investigate its association with kinematics (slide–roll-ratio), applied load, and relative velocity. The artificial knee was simulated by cobalt–chromium condyle on a flat ultra-high-molecular-weight polyethylene (UHMWPE) tibial plateau, lubricated by either water or proteinaceous solution. We found that the CoF is not a constant but fluctuates between the values close to 0 and 0.15. Cross-correlation suggested that this is primarily an effect of the slide–roll ratio and the contact pressure. There was no difference in the CoF between water and proteinaceous solution. Knowledge about the CoF behavior during a gait cycle will help to increase the accuracy of future computational models of total knee replacement.

In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in the forward and return strokes. An unsymmetrical parallel mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar parallel mechanism (5R-PPM) with two degrees of freedom (DoF). Optimized dimensions are determined by formulating an optimization problem using kinematics and dynamics equations for the 5R-PPM. Genetic algorithm is considered to obtain solutions for the optimization problem formulated in this study. The constraint condition expressed here for optimization will attempt to minimize the peak torque essential to displace the links in the mechanism for the given height of the robot body and the path to be traced by the end-effector. After analysing all the four possible working modes for the same end-effector movement, the best working mode is selected for the quadruped legs. The equations are formulated and solved in MATLAB, and validated in the MATLAB Simscape Multibody toolbox. © 2021 Mangesh D. Ratolikar, et al.

In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in the forward and return strokes. An unsymmetrical parallel mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar parallel mechanism (5R-PPM) with two degrees of freedom (DoF). Optimized dimensions are determined by formulating an optimization problem using kinematics and dynamics equations for the 5R-PPM. Genetic algorithm is considered to obtain solutions for the optimization problem formulated in this study. The constraint condition expressed here for optimization will attempt to minimize the peak torque essential to displace the links in the mechanism for the given height of the robot body and the path to be traced by the end-effector. After analysing all the four possible working modes for the same end-effector movement, the best working mode is selected for the quadruped legs. The equations are formulated and solved in MATLAB, and validated in the MATLAB Simscape Multibody toolbox. © 2021 Mangesh D. Ratolikar, et al.

In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in the forward and return strokes. An unsymmetrical parallel mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar parallel mechanism (5R-PPM) with two degrees of freedom (DoF). Optimized dimensions are determined by formulating an optimization problem using kinematics and dynamics equations for the 5R-PPM. Genetic algorithm is considered to obtain solutions for the optimization problem formulated in this study. The constraint condition expressed here for optimization will attempt to minimize the peak torque essential to displace the links in the mechanism for the given height of the robot body and the path to be traced by the end-effector. After analysing all the four possible working modes for the same end-effector movement, the best working mode is selected for the quadruped legs. The equations are formulated and solved in MATLAB, and validated in the MATLAB Simscape Multibody toolbox. © 2021 Mangesh D. Ratolikar, et al.

In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in the forward and return strokes. An unsymmetrical parallel mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar parallel mechanism (5R-PPM) with two degrees of freedom (DoF). Optimized dimensions are determined by formulating an optimization problem using kinematics and dynamics equations for the 5R-PPM. Genetic algorithm is considered to obtain solutions for the optimization problem formulated in this study. The constraint condition expressed here for optimization will attempt to minimize the peak torque essential to displace the links in the mechanism for the given height of the robot body and the path to be traced by the end-effector. After analysing all the four possible working modes for the same end-effector movement, the best working mode is selected for the quadruped legs. The equations are formulated and solved in MATLAB, and validated in the MATLAB Simscape Multibody toolbox. © 2021 Mangesh D. Ratolikar, et al.

In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in the forward and return strokes. An unsymmetrical parallel mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar parallel mechanism (5R-PPM) with two degrees of freedom (DoF). Optimized dimensions are determined by formulating an optimization problem using kinematics and dynamics equations for the 5R-PPM. Genetic algorithm is considered to obtain solutions for the optimization problem formulated in this study. The constraint condition expressed here for optimization will attempt to minimize the peak torque essential to displace the links in the mechanism for the given height of the robot body and the path to be traced by the end-effector. After analysing all the four possible working modes for the same end-effector movement, the best working mode is selected for the quadruped legs. The equations are formulated and solved in MATLAB, and validated in the MATLAB Simscape Multibody toolbox. © 2021 Mangesh D. Ratolikar, et al.

Gait-based person identification from videos captured at surveillance sites using Computer Vision-based techniques is quite challenging since these walking sequences are usually corrupted with occlusion, and a complete cycle of gait is not always available. In this work, we propose an effective neural network-based model to reconstruct the occluded frames in an input sequence before carrying out gait recognition. Specifically, we employ LSTM networks to predict an embedding for each occluded frame both from the forward and the backward directions, and next fuse the predictions from the two LSTMs by employing a network of residual blocks and convolutional layers. While the LSTMs are trained to minimize the mean-squared loss, the fusion network is trained to optimize the pixel-wise cross-entropy loss between the ground-truth and the reconstructed samples. Evaluation of our approach has been done using synthetically occluded sequences generated from the OU-ISIR LP and CASIA-B data and real-occluded sequences present in the TUM-IITKGP data. The effectiveness of the proposed reconstruction model has been verified through the Dice score and gait-based recognition accuracy using some popular gait recognition methods. Comparative study with existing occlusion handling methods in gait recognition highlights the superiority of our proposed occlusion reconstruction approach over the others.

Background: It is unclear how dual-task gait influences the lower limb range of motion (RoM) in people with Parkinson’s disease (PD) and freezing of gait (FOG). The lower limb kinematics during dual-task gait might differ from regular gait, but during what events in the gait cycle? Methods: This is an observational within-subjects study. Thirty-two individuals with PD and FOG underwent a gait analysis. Single and dual-task gait was assessed by a 3D motion analysis system and the RoM data of the lower limb were extracted from hips, knees and ankles in the sagittal plane. Dual-task assignment was performed using word-color interference test. To compare both gait conditions, we used two different analyses: (1) common discrete analysis to provide lower limb RoM and (2) Statistical Parametric Mapping analysis (SPM) to provide lower limb joint kinematics. A correlation between lower limb RoM and spatiotemporal gait parameters was also performed for each gait condition. Results: Common discrete analysis evidenced reductions in RoM of hips, knees and ankles during the dual task gait when compared to single gait. SPM analysis showed reductions in flexion-extension of hip, knees and ankles joints when dual task was compared to single task gait. These reductions were observed in specific gait events as toe off (for knees and ankles) and heel strike (for all joints). The reduction in lower limb RoM was positively correlated with the reduction in step length and gait speed. Conclusions: Lower limb joints kinematics were reduced during toe off and heel strike in dual task gait when compared to single gait. These findings might help physiotherapists to understand the influence of dual and single walking in lower limb RoM throughout the gait cycle in people with PD and FOG.

In this paper, an interpretable classifier using an interval type-2 fuzzy neural network for detecting patients suffering from Parkinson's Disease (PD) based on analyzing the gait cycle is presented. The proposed method utilizes clinical features extracted from the vertical Ground Reaction Force (vGRF), measured by 16 wearable sensors placed in the soles of subjects' shoes and learns interpretable fuzzy rules. Therefore, experts can verify the decision made by the proposed method based on investigating the firing strength of interpretable fuzzy rules. Moreover, experts can utilize the extracted fuzzy rules for patient diagnosing or adjust them based on their knowledge. To improve the robustness of the proposed method against uncertainty and noisy sensor measurements, Interval Type-2 Fuzzy Logic is applied. To learn fuzzy rules, two paradigms are proposed: 1- A batch learning approach based on clustering available samples is applied to extract initial fuzzy rules, 2- A complementary online learning is proposed to improve the rule base encountering new labeled samples. The performance of the method is evaluated for classifying patients and healthy subjects in different conditions including the presence of noise or observing new instances. Moreover, the performance of the model is compared to some previous supervised and unsupervised machine learning approaches. The final Accuracy, Precision, Recall, and F1 Score of the proposed method are 88.74%, 89.41%, 95.10%, and 92.16%. Finally, the extracted fuzzy sets for each feature are reported.

The purpose of this thesis is to create a framework that assists in the transfemoral prosthesis fitting process by calculating balance and symmetry to quantify patient comfort with an understanding of bipedal locomotion and human anatomy. Three different software applications were used to compare (1) the body position during gait cycle, (2) the natural and amputee anatomies, (3) the natural and prosthetic legs, and (4) the equilibrium and torque movements of the hip, knee, and ankle joints. Models were created in Maya for analysis in Solidworks and MEL code evaluation with MatLab. The MatLab code tested combinations of joint degrees and identified stability leg rotations. Additionally, the center of mass (COM) analysis demonstrated that the 3rd combination of materials for the prosthetic leg proved to be closest in COM position to the natural leg (COMNL ratio = 0.6241) with a COM ratio = 0.5972. COM determination assists in establishing symmetry in the prosthesis and amputee relationship. The (COM) alteration contributors were established as the stump length, prosthesis weight, and body position and anatomy.

In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in the forward and return strokes. An unsymmetrical parallel mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar parallel mechanism (5R-PPM) with two degrees of freedom (DoF). Optimized dimensions are determined by formulating an optimization problem using kinematics and dynamics equations for the 5R-PPM. Genetic algorithm is considered to obtain solutions for the optimization problem formulated in this study. The constraint condition expressed here for optimization will attempt to minimize the peak torque essential to displace the links in the mechanism for the given height of the robot body and the path to be traced by the end-effector. After analysing all the four possible working modes for the same end-effector movement, the best working mode is selected for the quadruped legs. The equations are formulated and solved in MATLAB, and validated in the MATLAB Simscape Multibody toolbox.

The biped dynamic walker considered in this paper has three actuators - two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault. Despite having only two actuators operational, we show that successful gait is possible for a typical case of virtual passive dynamic walking. We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps. It is shown that completely unpowered alternate steps are preferred over partially powered alternate steps in the case of virtual passive dynamic walking for global stability, and the other way for local stability. Copyright © 2020 Krishna Prakash Yadav, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This work proposes to compare the energetic efficiency of two models of leg: human-like model, with leg bent backward, and bird-like mode, with leg bent forward. The models are represented by a manipulator with 2 degrees of freedom, which simulates the two phases of gait: swing phase (leg swinging) and support phase (foot in the ground, supporting the dislocation of the hip forward). After generating the gait trajectory and simulating the swing and support phases separately in the multibody simulator SimMechanics of the software Matlab, an energetic analysis is performed calculating the energy consumption through the power applied on the joints. In order to focus the performance comparison on the physical dynamics of the models and eliminate inneficiency from the trajectory generation itself, the control solution is generated using a pseudospectral method of optimal control implemented in the software DIDO. The results point to the advantage of the human morphology in bending more freely in lift-off, causing the leg to use better the gravity to swing, and in making use of the increase of potential energy in swing phase to slow down the leg until heel strike., © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works., IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 21-23 Oct. 2018, Washington, DC, USA

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The biped dynamic walker considered in this paper has three actuators - two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault. Despite having only two actuators operational, we show that successful gait is possible for a typical case of virtual passive dynamic walking. We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps. It is shown that completely unpowered alternate steps are preferred over partially powered alternate steps in the case of virtual passive dynamic walking for global stability, and the other way for local stability. Copyright © 2020 Krishna Prakash Yadav, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The biped dynamic walker considered in this paper has three actuators - two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault. Despite having only two actuators operational, we show that successful gait is possible for a typical case of virtual passive dynamic walking. We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps. It is shown that completely unpowered alternate steps are preferred over partially powered alternate steps in the case of virtual passive dynamic walking for global stability, and the other way for local stability. Copyright © 2020 Krishna Prakash Yadav, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The biped dynamic walker considered in this paper has three actuators - two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault. Despite having only two actuators operational, we show that successful gait is possible for a typical case of virtual passive dynamic walking. We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps. It is shown that completely unpowered alternate steps are preferred over partially powered alternate steps in the case of virtual passive dynamic walking for global stability, and the other way for local stability. Copyright © 2020 Krishna Prakash Yadav, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The biped dynamic walker considered in this paper has three actuators - two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault. Despite having only two actuators operational, we show that successful gait is possible for a typical case of virtual passive dynamic walking. We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps. It is shown that completely unpowered alternate steps are preferred over partially powered alternate steps in the case of virtual passive dynamic walking for global stability, and the other way for local stability. Copyright © 2020 Krishna Prakash Yadav, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The biped dynamic walker considered in this paper has three actuators - two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault. Despite having only two actuators operational, we show that successful gait is possible for a typical case of virtual passive dynamic walking. We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps. It is shown that completely unpowered alternate steps are preferred over partially powered alternate steps in the case of virtual passive dynamic walking for global stability, and the other way for local stability.

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found.

Gait as a biometric property for person identification plays a key role in video surveillance and security applications. In gait recognition, normally, gait feature such as Gait Energy Image (GEI) is extracted from one full gait cycle. However in many circumstances, such a full gait cycle might not be available due to occlusion. Thus, the GEI is not complete giving rise to a degrading in gait-based person identification rate. In this paper, we address this issue by proposing a novel method to identify individuals from gait feature when a few (or even single) frame(s) is available. To do so, we propose a deep learning-based approach to transform incomplete GEI to the corresponding complete GEI obtained from a full gait cycle. More precisely, this transformation is done gradually by training several auto encoders independently and then combining these as a uniform model. Experimental results on two public gait datasets, namely OULP and Casia-B demonstrate the validity of the proposed method in dealing with very incomplete gait cycles.

Background. There is evidence for violation or a complete change in the arm swing cycle during walking in a number of pathologic conditions. Aim. We assess the functional state of the shoulder and elbow joints in normal conditions and with joint hypermobility syndrome (JHS) using the kinematic instrumental method of analyzing gait. Material and methods. We studied 27 adolescent girls 12–15 years old with JHS and healthy subjects. A Vicon motion capture analysis system (Vicon, Oxford, Great Britain) was used to record biomechanical parameters. Results. A decrease in limb movement amplitudes was noted in the shoulder joint around the frontal and sagittal axes in patients with JHS compared to the norm. During the arm swing cycle in the normal state, the shoulder is in a state of internal rotation, whereas in the girls with JHS, the shoulder is in a state of external rotation for most of the arm swing cycle. The elbow joint in the JHS subjects showed a significant increase in flexion angle of the forearm in the swing phase of 41.5° ± 0.90° and a decrease in this angle in the stance phase. The JHS group also showed a decrease in power of the muscles acting on the shoulder joint. Conclusions. A common sign of changes in the range of motion of the links of the upper limb in the shoulder and elbow joints in subjects with JHS was decreased amplitude of their flexion and decreased power of the joints. In the adolescents with JHS in the shoulder joint, a significant decrease in the internal rotation angles and reduction of the limb was found., Обоснование. Имеются данные о нарушении или полном изменении цикла переноса рук при ходьбе при ряде патологических состояний. Цель — оценка функционального состояния плечевого и локтевого суставов в норме и при синдроме гипермобильности суставов (СГМС) с использованием кинематического инструментального метода анализа походки человека. Материал и методы. Объектом исследования были 27 девочек подросткового в возрасте 12–15 лет с СГМС и здоровые испытуемые. Биомеханические параметры регистрировали при помощи системы захвата и анализа движения Vicon (Оксфорд, Великобритания). Результаты. Установлено снижение амплитуды движений конечности в плечевом суставе вокруг фронтальной, сагиттальной осей у пациентов с СГМС по сравнению с нормой. На протяжении всего цикла шага в норме плечо находится в состоянии внутренней ротации, тогда как в группе девочек с СГМС большую часть цикла переноса плечо находится в состоянии наружной ротации. В локтевом суставе в группе обследуемых с СГМС выявлено значимое увеличение угла сгибания предплечья в фазе переноса вперед 41,5 ± 0,90° и уменьшение значений этого угла в фазе переноса назад. В группе девушек с СГМС определено снижение мощности работы мышц, воздействующих на плечевой сустав. Заключение. Общим признаком изменений объема движений звеньев верхней конечности в плечевом и локтевом суставах в группе обследуемых с СГМС было уменьшение амплитуды их сгибания и снижение мощности работы суставов. В группе подростков с СГМС в плечевом суставе наблюдалось значительное уменьшение углов внутренней ротации и приведения конечности.