title: Does close proximity robot motion tracking alter gait?
abstract: Dynamic fluoroscopic imaging and three-dimensional model-image registration techniques provide detailed joint kinematic measurements for motions constrained to small volumes of space. Several groups are working to mount radiographic imaging hardware onto mobile platforms to provide these same imaging capabilities for observation of unrestricted activities. These dynamic radiographic imaging systems could provide accurate skeletal kinematics during a wide range of clinically relevant, daily activities. However, the premise that people move naturally when followed by a dynamic imaging system has not been evaluated. The goal of this study was to determine if a close-up robot tracking system affects natural free-speed gait. 14 healthy adults were recruited to walk through the workspace of a dynamic radiographic imaging system. Randomized walking trials were performed with and without the dynamic imaging system tracking the motions of the subject's left knee. With- and without-robot trials were compared using detailed temporal-spatial and frequency analysis of kinematic and kinetic parameters. On average, participants increase their stride length by 0.9 cm. There also were slight increases in unexplained variation in ankle flexion/extension and ground reaction forces compared to baseline measurements. The statistically significant differences indicate that, on average, people tried to move faster through the workspace of the dynamic radiographic imaging system while it was actively tracking their motion. These differences are small and potentially clinically irrelevant.
authors.affiliation: Department of Mechanical & Aerospace Engineering, University of Florida, Gainesville, FL 32611-6250, USA.
authors.forename: John D
authors.initials: JD
authors.lastname: Yamokoski
authors.forename: Scott A
authors.initials: SA
authors.lastname: Banks
mesh_terms: D000328:Adult; D001696:Biomechanical Phenomena; D005260:Female; D005684:Gait / Q000502:physiology*; D006801:Humans; D021621:Imaging, Three-Dimensional; D007719:Knee Joint / Q000502:physiology*; D008297:Male; D011859:Radiography / Q000379:methods; D012371:Robotics; D016138:Walking / Q000502:physiology; D055815:Young Adult