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A single step is usually preceded by the so-named anticipatory postural adjustments (APAs). These are normally described through the observation of the trajectory of the center of pressure (CoP). Even though, external factors such as stepping direction and footwear are known to modify APAs, quantitative investigations regarding their relevant effects are understudied in the literature. Therefore, this study aims at characterizing APAs patterns prior to forward and backward stepping when performed either in barefoot or shod condition and explores their variability. Twenty-eight young healthy volunteers participated in the study. CoP trajectories were recorded using a force plate and relevant spatio-temporal parameters extracted (i.e. duration, amplitude, and mean speed). Results showed distinct effects of both direction of the step and footwear on APAs: the first mainly induces variations of APAs along the anteroposterior direction, whereas the latter in the mediolateral direction. In addition, variability indices exhibited lower values for the APAs along the mediolateral axis which was affected by neither footwear nor direction of the step. This study extends previous literature by revealing significant direction X footwear interactions on APAs. Furthermore, regardless of these factors, the medio-lateral strategy is still well preserved, highlighting the prioritization of balance control over motor performance. In conclusion, both direction and footwear have a major effect on postural preparation therefore both factors should be included when evaluating APAs in real-life condition., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2021 Elsevier Ltd. All rights reserved.)

Transitory tasks, such as gait termination, involve interactions between neural and biomechanical factors that challenge postural stability and head stabilization patterns in older adults. The aim of the study was to compare upper body patterns of acceleration during planned gait termination at different speeds between young and older women. Ten young and 10 older women were asked to carry out three gait termination trials at slow, comfortable and fast speed. A stereophotogrammetric system and a 15-body segments model were used to calculate antero-posterior whole-body Center of Mass (AP CoM) speed and to reconstruct the centroids of head, trunk and pelvis segments. RMS of three-dimensional linear accelerations were calculated for each segment and the transmission of acceleration between two segments was expressed as a percentage difference. Older women reported lower AP CoM speed and acceleration RMS of the three upper body segments than young women across the three speed conditions. A lower pelvis-to-trunk attenuation of accelerations in the transverse plane was observed in older compared to young women, and mainly in the medio-lateral direction. As possible explanations, older women may not need to reduce acceleration as young women because of their lower progression speed and the subsequent acceleration at upper body levels. On the other hand, older women may prioritize a decrease in the whole body progression speed at expense of the involvement of upper body segments. This limits the attenuation of the accelerations, particularly in the transverse plane, implying an increased dynamic unbalance in performing this transitory task., (Copyright © 2017 Elsevier Ltd. All rights reserved.)

The capacity to maintain upright balance by minimising upper body oscillations during walking, also referred to as gait stability, has been associated with a decreased risk of fall. Although it is well known that fall is a common complication after stroke, no study considered the role of both trunk and head when assessing gait stability in this population. The primary aim of this study was to propose a multi-sensor protocol to quantify gait stability in patients with subacute stroke using gait quality indices derived from pelvis, sternum, and head accelerations. Second, the association of these indices with the level of walking ability, with traditional clinical scale scores, and with fall events occurring within the six months after patients' dismissal was investigated. The accelerations corresponding to the three abovementioned body levels were measured using inertial sensors during a 10-Meter Walk Test performed by 45 inpatients and 25 control healthy subjects. A set of indices related to gait stability were estimated and clinical performance scales were administered to each patient. The amplitude of the accelerations, the way it is attenuated/amplified from lower to upper body levels, and the gait symmetry provide valuable information about subject-specific motor strategies, discriminate between different levels of walking ability, and correlate with clinical scales. In conclusion, the proposed multi-sensor protocol could represent a useful tool to quantify gait stability, support clinicians in the identification of patients potentially exposed to a high risk of falling, and assess the effectiveness of rehabilitation protocols in the clinical routine., (Copyright © 2017 Elsevier Ltd. All rights reserved.)

The Harmonic Ratio (HR) is an index based on the spectral analysis of lower trunk accelerations that is commonly used to assess the quality of gait. However, it presents several issues concerning reliability and interpretability. As a consequence, the literature provides very different values albeit corresponding to the same populations. In the present work, an improved harmonic ratio (iHR) was defined, relating the power of the intrinsic harmonics (i.e. associated with the symmetric component of gait) to the total power of the signal for each stride, leading to a normalised index ranging from 0 to 100%. The effect of the considered number of harmonics and strides on the estimate of both HR and iHR was assessed. The gait of three groups of volunteers was investigated: young healthy adults, elderly women and male trans-femoral amputees. Both HR and iHR were able to discriminate gait deviations from the gait of young healthy adults. Moreover, iHR proved to be more robust with respect to the number of considered harmonics and strides, and to exhibit a lower inter-stride variability. Additionally, using a normalised index as iHR led to a more straightforward interpretation and improved comparability. The importance of standardised conditions for the index evaluation was unveiled, and, in order to enhance the future comparability of the index, the following guidelines were presented: considering at least 20 harmonics and 20 strides; expressing the acceleration components in a repeatable, anatomical, local system of reference; and evaluating the iHR index, rather than the traditional HR., (Copyright © 2017 Elsevier Ltd. All rights reserved.)

The quantitative description of joint mechanics during movement requires the reconstruction of the position and orientation of selected anatomical axes with respect to a laboratory reference frame. These anatomical axes are identified through an ad hoc anatomical calibration procedure and their position and orientation are reconstructed relative to bone-embedded frames normally derived from photogrammetric marker positions and used to describe movement. The repeatability of anatomical calibration, both within and between subjects, is crucial for kinematic and kinetic end results. This paper illustrates an anatomical calibration approach, which does not require anatomical landmark manual palpation, described in the literature to be prone to great indeterminacy. This approach allows for the estimate of subject-specific bone morphology and automatic anatomical frame identification. The experimental procedure consists of digitization through photogrammetry of superficial points selected over the areas of the bone covered with a thin layer of soft tissue. Information concerning the location of internal anatomical landmarks, such as a joint center obtained using a functional approach, may also be added. The data thus acquired are matched with the digital model of a deformable template bone. Consequently, the repeatability of pelvis, knee and hip joint angles is determined. Five volunteers, each of whom performed five walking trials, and six operators, with no specific knowledge of anatomy, participated in the study. Descriptive statistics analysis was performed during upright posture, showing a limited dispersion of all angles (less than 3 deg) except for hip and knee internal-external rotation (6 deg and 9 deg, respectively). During level walking, the ratio of inter-operator and inter-trial error and an absolute subject-specific repeatability were assessed. For pelvic and hip angles, and knee flexion-extension the inter-operator error was equal to the inter-trial error-the absolute error ranging from 0.1 deg to 0.9 deg. Knee internal-external rotation and ab-adduction showed, on average, inter-operator errors, which were 8% and 28% greater than the relevant inter-trial errors, respectively. The absolute error was in the range 0.9-2.9 deg.

To estimate hip joint angles during selected motor tasks using stereophotogrammetric data, it is necessary to determine the hip joint centre position. The question is whether the errors affecting that determination propagate less to the angles estimates when a three degrees of freedom (DOFs) constraint (spherical hinge) is used between femur and pelvis, rather than when the two bones are assumed to be unconstrained (six DOFs). An analytical relationship between the hip joint centre location error and the joint angle error was obtained limited to the planar case. In the 3-D case, a similar relationship was obtained using a simulation approach based on experimental data. The joint angle patterns resulted in a larger distortion using a constrained approach, especially when wider rotations occur. The range of motion of the hip flexion-extension, obtained simulating different location errors and without taking into account soft tissue artefacts, varied approximately 7 deg using a constrained approach and up to 1 deg when calculated with an unconstrained approach. Thus, the unconstrained approach should be preferred even though its estimated three linear DOFs most unlikely carry meaningful information.

The functional method identifies the hip joint centre (HJC) as the centre of rotation of the femur relative to the pelvis during an ad hoc movement normally recorded using stereophotogrammetry. This method may be used for the direct determination of subject-specific HJC coordinates or for creating a database from which regression equations may be derived that allow for the prediction of those coordinates. In order to contribute to the optimization of the functional method, the effects of the following factors were investigated: the algorithm used to estimate the HJC coordinates from marker coordinates, the type and amplitude of the movement of the femur relative to the pelvis, marker cluster location and dimensions, and the number of data samples. This was done using a simulation approach which, in turn, was validated using experiments made on a physical analogue of the pelvis and femur system. The algorithms used in the present context were classified and, in some instances, modified in order to optimize both accuracy and computation time, and submitted to a comparative evaluation. The type of movement that allowed for the most accurate results consisted of several flexion-extension/abduction-adduction movements performed on vertical planes of different orientations, followed by a circumduction movement. The accuracy of the HJC estimate improved, with an increasing rate, as a function of the amplitude of these movements. A sharp improvement was found as the number of the photogrammetric data samples used to describe the movement increased up to 500. For optimal performance with the recommended algorithms, markers were best located as far as possible from each other and with their centroid as close as possible to the HJC. By optimizing the analytical and experimental protocol, HJC location error not caused by soft tissue artefacts may be reduced by a factor of ten with a maximal expected value for such error of approximately 1mm.