Contactless measurement of cow behavior in a milking robot

We have worked on automatically measuring the behavior of dairy cows during automatic milking. A milking robot offers a unique possibility for a dynamic measurement of physical data. Four strain gauge scales were installed into a milking robot in order to measure the weight of each leg separately, and a laser distance sensor was placed next to the robot in order to measure the radial movement of the cow’s body surface. The data were collected into a PC. Three video cameras were installed to observe the system, and the data were recorded digitally. From the data, the dynamic weight or load of each leg and the respiration rate of a cow could be measured. Different stages of milking were observed, and the changes in behavior during milking were analyzed. The acquired information could be used to judge a cow’s restlessness and welfare—for example, leg health and stress.     

How providing more or less time to solve a cognitive task interferes with upright stance control; a posturographic analysis on healthy young adults

Contrasted postural effects have been reported in dual-task protocols associating balance control and cognitive task that could be explained by the nature and the relative difficulty of the cognitive task and the biomechanical significance of the force platform data. To better assess their respective role, eleven healthy young adults were required to stand upright quietly on a force platform while concomitantly solving mental-calculation or mental-navigation cognitive tasks. Various levels of difficulty were applied by adjusting the velocity rate at which the instructions were provided to the subject according to his/her maximal capacities measured beforehand. A condition without any concomitant cognitive task was added to constitute a baseline behavior. Two basic components, the horizontal center-of-gravity movements and the horizontal difference between center-of-gravity and center-of-pressures were computed from the complex center-of-pressure recorded movements. It was hypothesized that increasing the delay should infer less interaction between postural control and task solution. The results indicate that both mental-calculation and mental-navigation tasks induce reduced amplitudes for the center-of-pressure minus center-of-gravity movements, only along the mediolateral axis, whereas center-of-gravity movements were not affected, suggesting that different circuits are involved in the central nervous system to control these two movements. Moreover, increasing the delays task does not infer any effect for both movements. Since center-of-pressure minus center-of-gravity expresses the horizontal acceleration communicated to the center-of-gravity, one may assume that the control of the latter should be facilitated in dual-tasks conditions, inferring reduced center-of-gravity movements, which is not seen in our results. This lack of effect should be thus interpreted as a modification in the control of these center-of-gravity movements. Taken together, these results emphasized how undisturbed upright stance control can be impacted by mental tasks requiring attention, whatever their nature (calculation or navigation) and their relative difficulty. Depending on the provided instructions, i.e. focusing our attention on body movements or on the opposite diverting this attention toward other objectives, the evaluation of upright stance control capacities might be drastically altered.     

Coordination Between Arm and Leg Movements During Locomotion

To evaluate the contrasting dynamical and biomechanical interpretations of the 2:1 frequency coordination between arm and leg movements that occurs at low walking velocities and the 1:1 frequency coordination that occurs at higher walking velocities, the authors conducted an experiment in which they quantified the effect of walking velocity on the stability of the frequency and phase coordination between the individual limb movements. Spectral analyses revealed the presence of 2:1 frequency coordination as a consistent feature of the data in only 3 out of 8 participants at walking velocities ranging from 1.0 to 2.0 km/h, in spite of the fact that the eigenfrequencies of the arms were rather similar across participants. The degree of interlimb coupling, as indexed by weighted coherence and variability of relative phase, was lower for the arm movements and for ipsilateral and diagonal combinations of arm and leg movements than for the leg movements. Furthermore, the coupling between all pairs of limb movements was found to increase with walking velocity, whereas no clear signs were observed that the switches from 2:1 to 1:1 frequency coordination and vice versa were preceded by loss of stability. Therefore, neither a purely biomechanical nor a purely dynamical model is optimally suited to explain these results. Instead, an integrative model involving elements of both approaches seems to be required.     

Movement parameters that distinguish between voluntary movements and levodopa-induced dyskinesia in Parkinson's disease

It is well known that long-term use of levodopa by patients with Parkinson's disease causes dyskinesia. Several methods have been proposed for the automatic, unsupervised detection and classification of levodopa induced dyskinesia. Recently, we have demonstrated that neural networks are highly successful to detect dyskinesia and to distinguish dyskinesia from voluntary movements. The aim of this study was to use the trained neural networks to extract parameters, which are important to distinguish between dyskinesia and voluntary movements.Thirteen patients were continuously monitored in a home-like situation performing in about 35 daily life tasks for a period of approximately 2.5 h. Behavior of the patients was measured using triaxial accelerometers, which were placed at six different positions of the body. A neural network was trained to assess the severity of dyskinesia. The neural network was able to assess the severity of dyskinesia and could distinguish dyskinesia from voluntary movements in daily life. For the trunk and the leg, the important parameters appeared to be the percentage of time that the trunk or leg was moving and the standard deviation of the segment velocity of the less dyskinetic leg. For the arm, the combination of the percentage of time, that the wrist was moving, and the percentage of time, that a patient was sitting, explained the largest part of the variance of the output. Dyskinesia differs from voluntary movements in the fact that dyskinetic movements tend to have lower frequencies than voluntary movements and in the fact that movements of different body segments are not well coordinated in dyskinesia.     

Coordination between arm and leg movements during locomotion

To evaluate the contrasting dynamical and biomechanical interpretations of the 2:1 frequency coordination between arm and leg movements that occurs at low walking velocities and the 1:1 frequency coordination that occurs at higher walking velocities, the authors conducted an experiment in which they quantified the effect of walking velocity on the stability of the frequency and phase coordination between the individual limb movements. Spectral analyses revealed the presence of 2:1 frequency coordination as a constant feature of the data in only 3 out of 8 participants at walking velocities ranging from 1.0 to 2.0 km/h, in spite of the fact that the eigenfrequencies of the arms were rather similar across participants. The degree of interlimb coupling, as indexed by weighted coherence and variability of relative phase, was lower for the arm movements and for ipsilateral and diagonal combinations of arm and leg movements than for the leg movements. Furthermore, the coupling between all pairs of limb movements was found to increase with walking velocity, whereas no clear signs were observed that the switches from 2:1 to 1:1 frequency coordination and vice versa were preceded by loss of stability. Therefore, neither a purely biomechanical nor a purely dynamical model is optimally suited to explain these results. Instead, an integrative model involving elements of both approaches seems to be required.     

Simulating the Impact During Human Jumping by Means of a 4-Degrees-of-Freedom Model With Time-Dependent Properties

The authors simulated the vertical movements of a jumper and the force time courses by means of a 4-degrees-of-freedom model consisting of 4 masses, springs, and dampers. Of the motions simulated, only that of the mass imitating the trunk corresponded to the measured data. The best fit to the measured force curves were obtained in the simulation in which time-dependent model parameters were used. From the results, the authors concluded that at the beginning of the landing, a jumper behaves like a 2-mass model in which the leg segments (thighs, shanks, and feet) effectively combine into 1 mass. After approximately 60 ms, the connections between the leg segments become more compliant and the jumper behaves like a 4-mass model with a soft coupling between the leg segments. The process is equivalent to an increase of the degrees of freedom of the movements. At the end of the ground contact phase during hopping, the jumper has to contract the muscles in order to reach the envisaged jump height. In the model, that contraction could not be satisfactorily simulated.     

Simulating the impact during human jumping by means of a 4-degrees-of-freedom model with time-dependent properties

The authors simulated the vertical movements of a jumper and the force time courses by means of a 4-degrees-of-freedom model consisting of 4 masses, springs, and dampers. Of the motions simulated, only that of the mass imitating the trunk corresponded to the measured data. The best fit to the measured force curves were obtained in the simulation in which time-dependent model parameters were used. From the results, the authors concluded that at the beginning of the landing, a jumper behaves like a 2-mass model in which the leg segments (thighs, shanks, and feet) effectively combine into 1 mass. After approximately 60 ms, the connections between the leg segments become more compliant and the jumper behaves like a 4-mass model with a soft coupling between the leg segments. The process is equivalent to an increase of the degrees of freedom of the movements. At the end of the ground contact phase during hopping, the jumper has to contract the muscles in order to reach the envisaged jump height. In the model, that contraction could not be satisfactorily simulated.     

Influence of swing leg movement on running stability

The aim of this study was to investigate the role of the swing leg movement on running stability. A simple model was used describing a forward hopping motion. The model consisted of two sub-models, namely a spring-mass system for the stance phase and a functional control model for the swing phase (represented by a passive or actively driven pendulum). To verify the main simulation results, an experimental study on treadmill running was performed. The results of the model indicated that for certain running speeds and pendulum lengths, the behavior of the mechanical system was stable. The following characteristic dependencies between the model parameters were observed. (1) Pendulum length and hip muscle activity determined running height and therefore swing duration. (2) Horizontal velocity was inversely related to leg angle of attack. Increased speed corresponded to flatter leg angles at touch-down, which is in agreement with experimental studies and previous predictions of spring-mass running. It was shown that a biologically motivated control approach with oscillating leg movements is well capable of generating stable hopping movements. Due to its simplicity, however, the monopedal model failed to explain more detailed mechanisms like the swing-leg to stance-leg interaction or the functional role of the leg segmentation. This simple model is therefore considered as a functional mechanical template for legged locomotion, which could help to build more elaborate models in the future.     

Sleep architecture in patients with fibromyalgia

The main objective of this work was to evaluate the characteristics of sleep in patients diagnosed with fibromyalgia syndrome. Sleep architecture in 32 patients with fibromyalgia and 20 healthy controls was evaluated. Following the recommendations of the International Federation of Clinical Neurophysiology, polysomnographies were conducted with fibromyalgia patients and the control subjects. The fibromyalgia patients showed alterations in cyclic organization of sleep and an increased number of periodic leg movements associated with cortical arousals. No significant differences were found in respiratory and oximetry variables or in alpha-delta sleep. The results support that fibromyalgia patients present an increase of superficial sleep at the expense of deep sleep and also an increase of periodic leg movements, which could have a pathogenic effect, facilitating the onset of the illness. Lastly, we discuss the results and propose some future lines of research.     

Initial-state dependency of learning in young infants

With the aim of investigating the effect of the initial state of pre-learning on subsequent infant learning (i.e., the initial-state dependency), we observed the limb movements in 3-month-old infants in the course of a motor learning task. The session comprised 2-min pre-learning and 4-min learning periods, and the infants learned to move a toy using a string attached to either an arm (arm-based learning, Experiment 1) or a leg (leg-based learning, Experiment 2). Infants were assigned to low- and high-state groups in the initial-state condition according to the average velocity of the arm (Experiment 1) or leg (Experiment 2) movements during the pre-learning period. The results revealed that, during the learning period, infants in the low-state group increased the movement of their limbs, whereas those in the high-state group showed no significant changes in the movement of most of their limbs. These results suggest that infants demonstrating a low average velocity of movement in the initial state easily observed and learned the circular causality between self-produced movements and environmental changes. On the other hand, it seemed that infants demonstrating a high average velocity of movement in the initial state could not or did not need to increase their limb movements (the toy would already be shaking enough to form striking movements).     

Interlimb coordination following stroke

Studies investigating whether simultaneous bilateral movements can facilitate performance of the impaired limb(s) of stroke patients have returned mixed results. In the present study we compared unilateral limb performance (amplitude, cycle duration) with performance during an interlimb coordination task involving both homologous (both arms, both legs) and non-homologous (one arm, one leg) limbs in stroke participants (n=7) and healthy age-matched controls (n=7). In addition, the effect of on-line augmented visual feedback on interlimb coordination was investigated. Participants performed cyclical flexion-extension movements of the arms and legs in the sagittal plane paced by an auditory metronome (1 Hz). Movement amplitudes were larger and cycle durations shorter during homologous limb coordination than non-homologous coordination. Compared with unilateral movements both groups had reduced movement amplitudes and the stroke group increased cycle duration when interlimb coordination tasks were performed. These effects were most evident during non-homologous (arm and leg) coordination. No evidence of facilitation of the impaired limb(s) was found in any of the interlimb coordination conditions. Augmented visual feedback had minimal effect on the movements of control participants but lead to an increase of cycle duration for stroke participants.     

Motor adaptation to different dynamic environments is facilitated by indicative context stimuli

When humans are exposed to external forces while performing arm movements, they adapt by compensating for these novel forces. The basis of this learning process is thought to be a neural representation that models the relation between all forces acting upon the system and the kinematic effects they produce, called inverse dynamic model (IDM). The present study investigated whether and how the predictability of a given external force affects the selection of an appropriate motor response to compensate for such force. Adult human subjects (N=32) held a handle that could rotate around the elbow joint and learned to perform goal-directed forearm flexion movements, while an external velocity-dependent negative damping force was applied that assisted forearm movement. Subjects were randomly assigned to two groups. In the associative group, the applied damping force was always associated with a specific initial position. Thus, after initial learning, the force application became predictable. In the non-associative group, where the same movements were performed, the applied force was independent of the initial position, so that no association between force and location could be formed. We found that only the associative group significantly reduced target error when damping was present. That is, the location cue aided these subjects in generating dynamic responses in the appropriate limb. Our results indicate that motor adaptation to different dynamic environments can be facilitated by indicative stimuli.     

Recurrence plot analyses suggest a novel reference system involved in newborn spontaneous movements

The movements of newborns have been thoroughly studied in terms of reflexes, muscle synergies, leg coordination, and target-directed arm/hand movements. Since these approaches have concentrated mainly on separate accomplishments, there has remained a clear need for more integrated investigations. Here, we report an inquiry in which we explicitly concentrated on taking such a perspective and, additionally, were guided by the methodological concept of home base behavior, which Ilan Golani developed for studies of exploratory behavior in animals. Methods from nonlinear dynamics, such as symbolic dynamics and recurrence plot analyses of kinematic data received from audiovisual newborn recordings, yielded new insights into the spatial and temporal organization of limb movements. In the framework of home base behavior, our approach uncovered a novel reference system of spontaneous newborn movements.     

Asymmetrical stabilization and mobilization exploited during static single leg stance and goal directed kicking

The motor control properties of the right and left legs are dependent on the stabilization and mobilization features of the motor tasks. The current investigation examined the right and left leg control differences – interlateral asymmetries – during static single leg stance and dynamic goal directed kicking with an emphasis of the asymmetrical stabilization and mobilization components of movements. Ten young, healthy, right-leg preferred individuals with minimal kicking experience completed both tests on each limb. During static single leg stance, participants were requested to stand as still as possible with one leg in contact with a force platform. Interlateral asymmetries of the standing leg were quantified using postural variability measures of the center of pressure (COP) standard deviation in the anterior-posterior (SD-COP_AP) and medial-lateral (SD-COP_ML) directions, resultant COP length and velocity, and 95% COP elliptical area. During dynamic goal directed kicking, participants stood on two adjacent force platforms in a side-by-side foot position and kicked a soccer ball toward three different directions as soon as they received an auditory cue of kicking. Three targets were located −30°, 0° or 30° in front and 3.05 m away from the participants’ midline. Participants kicked the ball toward the targets with each of their feet. The vertical ground reaction force (vGRF) of the kicking leg was used to define the preparation (from above two standard deviations of vGRF baseline to toe-off) and swing (from toe-off to toe-return) phases of dynamic kicking. To determine the presence of interlateral asymmetries during dynamic kicking, the magnitude and timing of the anticipatory postural adjustments (APA) during the preparation phase of kicking were quantified using the lateral net COP (COPnet-ML) time series derived from both force platforms. Postural variability measures of the support leg and the kinematic joint range of motion (JROM) trajectories of the kicking leg were also used to examined interlateral asymmetries. During static stance, no between-leg significance was identified for all dependent measures of COP variability suggesting symmetrical stabilization. During the preparation phase of kicking, both right and left leg kicking exhibited a similar level of APA magnitude, although the left leg kicking was shown to reach its maximum APA magnitude earlier than the right leg. In the support leg role, the right leg showed greater COP variability in the ML direction as compared to the left support leg and greater COP variability was observed when kicking in the ipsilateral direction compared to the center and contralateral directions. For mobilization control, the left kicking leg showed greater JROM displacements at the distal (knee and ankle) joints and reduced JROM primarily with hip frontal plane movements compared to the right kicking leg. The reported interlateral asymmetries during kicking may reflect a behavioral adaptation that results in differential stabilization between the right and left legs. Overall, the findings suggest that novel tasks, such as dynamic goal directed kicking, appear to be more sensitive than static balance in identifying interlateral asymmetries.     

A novel two-body sensor system to study spontaneous movements in infants during caregiver physical contact

Spontaneous movements, which refer to repetitive limb movements in the absence of any external stimulus, have been found to be reflective of neurodevelopmental status during infancy. These movements are modulated by both individual and environmental factors, including physical contact (holding) with the caregiver. However, it is a challenge to measure spontaneous movements during physical contact because infant-generated movements become coupled with caregiver-generated movements in such contexts. Here, we propose the use of a novel two-body sensor system to distinguish infant-generated movements in the presence of physical contact with the caregiver. Data from seven typically developing infants and their caregivers were recorded during different simulated home activities, which involved different combinations of physical interaction, caregiver’s movement and infant positions. The two-body sensor system consisted of two wearable accelerometers – one placed on the infant’s arm and one on the caregiver’s arm, and we developed a Kalman-filter based algorithm to isolate the infant-generated movements. In addition, video was recorded for qualitative analysis. Results indicated that spontaneous movement activity was higher when there was no physical contact with caregiver. When there was physical contact, spontaneous movements were increased when the caregiver was still and when the infant was held horizontally. These results show that the novel two-body sensor system and the associated algorithms were able to isolate infant-generated movements during physical contact with the caregiver. This approach holds promise for the automated long-term tracking of spontaneous movements in infants, which may provide critical insight into developmental disorders.     

Effects of low back pain on the relationship between the movements of the lumbar spine and hip

Previous research had examined the effects of back pain on spinal movements, but information concerning movement coordination between the lumbar spine and hips was limited. The purpose of this study was to examine the effects of back pain and limitation in straight leg raise on the relationship between the movements of the lumbar spine and hip. An electromagnetic tracking system was employed to measure the movements of these joints in asymptomatic subjects (n = 20), and back pain subjects with (n = 24) and without (n = 17) limitation in straight leg raise. Subjects were requested to perform forward, backward and side bending, and twisting of the trunk. Back pain subjects were found to exhibit significant reductions in the magnitude of spine movements in all directions. Back pain was also associated with decrease in the magnitude of hip flexion but not hip movements in other directions. Cross-correlation analysis showed that there were changes in the strength of correlation and the time lag between lumbar spine and hip motions in normal and back pain subjects. In addition, back pain and limitation in straight leg raise were found to cause significant increases in the time required to complete the trunk movements. It was concluded that clinical assessment and treatment planning should take into account of the effects of back pain on the relationship between spine and hip movements.     

Human bilateral deficit during a dynamic multi-joint leg press movement

Bilateral deficit has been used to describe the phenomenon of a reduction in performance during synchronous bilateral movements when compared to the sum of identical unilateral movements. The study of bilateral deficit in humans under isometric, and to a lesser extent, dynamic conditions has shown bilateral decreases in force and muscle activation, and delayed reaction time. Results are equivocal, however, and biomechanical analyses of dynamic conditions, i.e., movements, are lacking. Our purpose was to determine, through an analysis of kinematic, kinetic, and electromyographic (EMG) data, whether or not bilateral deficit was present during a dynamic multi-joint movement under conditions where the external load was relatively equal for unilateral and bilateral efforts. Five male participants performed repeated unilateral and bilateral maximal horizontal leg press jumps under 100% (1BW) and 200% (2BW) relative body weight loads. Significant bilateral deficits in resultant ground reaction impulse of 27.7% and 13.0% were present in 1BW and 2BW, respectively. Maximum joint power at the hip exhibited significant deficits in both 1BW and 2BW of 35.6% and 25.1%, respectively. In both 1BW and 2BW conditions, ankle (15.5% and 11.5%), knee (10.9% and 5.7%), and hip (38.5% and 30.4%) work was significantly affected. Statistically significant EMG bilateral deficits were found in every muscle in both conditions except for rectus femoris during the 2BW trials. Bilateral deficit values ranged from 9.1% to 20.9% for 1BW, while deficits between 6.1% and 20.7% were found in 2BW. These results indicate that during dynamic leg press, bilateral deficit does exist, but that individual muscle activation levels and joint kinetics are not equally affected.     

REDUCING SELF-INJURY AND CORRESPONDING SELF-RESTRAINT THROUGH THE STRATEGIC USE OF PROTECTIVE CLOTHING

We examined the use of protective clothing to reduce a retarded male's face-punching and leg-kicking and two corresponding forms of self-restraint—arm and leg self-restraint. The resident was observed each day in three sessions of randomly ordered conditions (one condition per session): without any protective clothing, with a padded helmet, and with a padded helmet and padded slippers. Use of the padded helmet substantially reduced face-punching and arm self-restraint. The addition of padded slippers reduced leg-kicking and leg self-restraint. These results suggest a practical and effective means of controlling self-injury and self-restraint. They are also consistent with the possibility that the resident's arm restraint was maintained in part by escape or avoidance of face-punching and that his leg restraint was maintained in part by escape or avoidance of leg-kicking.     

Correlation between performance and quantity/variability of leg exploration in a contingency learning task during infancy

Quantity and quality of motor exploration are proposed to be fundamental for infant motor development. However, it is still not clear what types of motor exploration contribute to learning. To determine whether changes in quantity of leg movement and/or variability of leg acceleration are related to performance in a contingency learning task, twenty 6–8-month-old infants with typical development participated in a contingency learning task. During this task, a robot provided reinforcement when the infant’s right leg peak acceleration was above an individualized threshold. The correlation coefficient between the infant’s performance and the change in quantity of right leg movement, linear variability, and nonlinear variability of right leg movement acceleration from baseline were calculated. Simple linear regression and multiple linear regression were calculated to explain the contribution of each variable to the performance individually and collectively. We found significant correlation between the performance and the change in quantity of right leg movement (r = 0.86, p < 0.001), linear variability (r = 0.71, p < 0.001), and nonlinear variability (r = 0.62, p = 0.004) of right leg movement acceleration, respectively. However, multiple linear regression showed that only quantity and linear variability of leg movements were significant predicting factors for the performance ratio (p < 0.001, adjusted R² = 0.94). These results indicated that the quantity of exploration and variable exploratory strategies could be critical for the motor learning process during infancy.     

Longitudinal assessment of leg motor activity and sleep patterns in infants with and without Down syndrome

Whether infants with Down syndrome (DS) perform leg movements with the same frequency and quality as their typical development (TD) counterparts is equivocal. Furthermore, the relationship between these early leg movements and later onset of locomotor milestones has only been partially explored. The aims of this study were two-fold: (1) to describe the longitudinal leg activity in infants with and without DS (3-6 months), and (2) to examine sleeping patterns and leg activity during the night. In addition, the relationships between leg activities and sleep patterns with locomotor development were explored. An activity monitor was placed monthly on the infant's ankle for 48 h. Data were analyzed to separate day-night, high-low activity, and sleep fragmentation. The results indicate that infants with DS produced more low intensity activity and more fragmented sleep. These findings are discussed in relation to the influence of early motor activity on achievement of functional motor behavior.