The ability to capture joint kinematics in outside-laboratory environments is clinically relevant. In order to estimate kinematics, inertial measurement units can be attached to body segments and their absolute orientations can be estimated. However, the heading part of such orientation estimates is known to drift over time, resulting in drifting joint kinematics. This study proposes a novel joint kinematic estimation method that tightly incorporates the connection between adjacent segments within a sensor fusion algorithm, to obtain drift-free joint kinematics. Drift in the joint kinematics is eliminated solely by utilizing common information in the accelerometer and gyroscope measurements of sensors placed on connecting segments. Both an optimization-based smoothing and a filtering approach were implemented. Validity was assessed on a robotic manipulator under varying measurement durations and movement excitations. Standard deviations of the estimated relative sensor orientations were below 0.89° in an optimization-based smoothing implementation for all robot trials. The filtering implementation yielded similar results after convergence. The method is proven to be applicable in biomechanics, with a prolonged gait trial of 7 minutes on 11 healthy subjects. Three-dimensional knee joint angles were estimated, with mean RMS errors of 2.14°, 1.85°, 3.66° in an optimization-based smoothing implementation and mean RMS errors of 3.08°, 2.42°, 4.47° in a filtering implementation, with respect to a golden standard optical motion capture reference system.

Traditional motion capture systems are the current standard in the assessment of knee joint kinematics. These systems are, however, very costly, complex to handle, and, in some conditions, fail to estimate the varus/valgus and internal/external rotation accurately due to the camera setup. This paper presents a novel and comprehensive method to infer the full relative motion of the knee joint, including the flexion/extension, varus/valgus, and internal/external rotation, using only low cost inertial measurement units (IMU) connected to the upper and lower leg. Furthermore, sensors can be placed arbitrarily and only require a short calibration, making it an easy-to-use and portable clinical analysis tool. The presented method yields both adequate results and displays the uncertainty band on those results to the user. The proposed method is based on an fixed interval smoother relying on a simple dynamic model of the legs and judicially chosen constraints to estimate the rigid body motion of the leg segments in a world reference frame. In this pilot study, benchmarking of the method on a calibrated robotic manipulator, serving as leg analogue, and comparison with camera-based techniques confirm the method’s accurateness as an easy-to-implement, low-cost clinical tool.

Traditional instrumented seat posts determine context-induced seat loads to analyze damping properties. This paper presents an enhanced instrumented seat post able to measure all six load components to resolve user-induced seat loads. User-induced cycling loads consist of all loads the user applies to the bicycle during cycling and is measured at the steer stem, the seat post, and the pedals. Seat loads are essentially uncharted territory, as most studies only address pedal loading to study cycling technique. In this paper, a conventional seat post is redesigned by equipping it with a u-shaped component and strain gauges. The instrumented seat post is straightforward thanks to (i) the simple design, (ii) the gravitational calibration method, and (iii) the permitted clearance on the strain gauge alignment. Analyzing mean seat loading in function of the pedal cycle can provide extra insights into cycling technique and the related injuries. It is an interesting addition to the universally adopted method of utilizing singular pedal loads.

This paper considers a linear optimisation problem under uncertainty with at least one element modelled as a non-probabilistic uncertainty. The uncertainty is expressed in the coefficient matrices of constraints and/or coefficients of goal function. Previous work converts such problems to classical (linear) optimisation problems and eliminates uncertainty by converting the linear programming under uncertainty problem to a decision problem using imprecise probability and imprecise decision theory. Our aim here is to generalise this approach numerically and present three methods to calculate the solution. We investigate what numerical results can be obtained for interval and fuzzy types of uncertainty models and compare them to classical probabilistic cases — for two different optimality criteria: maximinity and maximality. We also provide an efficient method to calculate the maximal solutions in the fuzzy set model. A numerical example is considered for illustration of the results.