Wai Yin Yee = 遺傳演算法的應用連續影像之人體動作捕捉 / 韋燕儀. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2003. / Includes bibliographical references (leaves 113-115). / Text in English; abstracts in English and Chinese. / Wai Yin Yee = Yi zhuan yan suan fa de ying yong lian xu ying xiang zhi ren ti dong zuo bu zhuo / Wei Yanyi. / Abstract --- p.ii / 摘要 --- p.iv / Acknowledgement --- p.vi / Content --- p.vii / List of Figures --- p.x / List of Tables --- p.xviii / Chapter Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Human Motion Capture --- p.1 / Chapter 1.1.1 --- Optical Motion Capture --- p.3 / Chapter 1.1.2 --- Monocular Motion Capture --- p.4 / Chapter 1.2 --- Proposed Human Motion Capture System --- p.6 / Chapter 1.3 --- Organization --- p.8 / Chapter Chapter 2 --- Introduction of Genetic Algorithms --- p.10 / Chapter 2.1 --- Traditional Search Methods & Genetic Algorithms --- p.11 / Chapter 2.2 --- Mechanism of Genetic Algorithms --- p.14 / Chapter 2.3 --- A Simple Genetic Algorithm --- p.16 / Chapter 2.3.1 --- Initialization --- p.16 / Chapter 2.3.2 --- Evaluation --- p.17 / Chapter 2.3.3 --- Selection --- p.18 / Chapter 2.3.4 --- Genetic Operation --- p.19 / Chapter 2.3.5 --- Termination --- p.23 / Chapter 2.4 --- Convergence Proof for GA --- p.24 / Chapter 2.5 --- Proposed Modified Genetic Algorithm --- p.26 / Chapter 2.6 --- Effectiveness of the Proposed Modified GA on Function Optimization --- p.28 / Chapter 2.6.1 --- Function 1 - Unimodal function --- p.28 / Chapter 2.6.2 --- Function 2 - Sine function --- p.35 / Chapter 2.6.3 --- Function 3 - Foxhole function --- p.39 / Chapter 2.6.4 --- Function 4 - Discrete function --- p.41 / Chapter Chapter 3 --- Pre-processing I - Articulated Stick Model --- p.44 / Chapter 3.1 --- Background Knowledge of Human Skeleton --- p.44 / Chapter 3.2 --- Simplified Humanoid Articulated Stick Model --- p.44 / Chapter Chapter 4 --- Pre-Processing II - Reference Lengths & 2-D Frame Scale --- p.48 / Chapter 4.1 --- Optimization Approach --- p.54 / Chapter 4.1.1 --- Parameters Range --- p.62 / Chapter 4.1.2 --- GA Formulation --- p.63 / Chapter 4.2 --- Triangulation approach --- p.63 / Chapter 4.3 --- Experiments & Discussion --- p.66 / Chapter 4.3.1 --- Experiment One: Synthetic sequences --- p.67 / Chapter 4.3.2 --- Experiment Two: Real image sequences --- p.71 / Chapter Chapter 5 --- Pre-Processing III - Possible Depths --- p.76 / Chapter Chapter 6 --- Resolving Depth Ambiguity by GA --- p.83 / Chapter 6.1 --- Smoothness Assumption --- p.83 / Chapter 6.2 --- Kinematic Constraint --- p.85 / Chapter 6.3 --- GA Formulation --- p.85 / Chapter 6.4 --- Proposed Constrained GA --- p.86 / Chapter 6.5 --- Implementation and Experiments --- p.87 / Chapter 6.5.1 --- Experiment One: Synthetic sequences --- p.88 / Chapter 6.5.2 --- Experiment Two: Real image sequences --- p.105 / Chapter Chapter 7 --- Conclusion --- p.111 / Bibliography --- p.113 / Appendix A Description of Rotating Angles --- p.116

Two experiments were undertaken. The objective of Experiment One was to identify the lower limb muscles that were most frequently active during the early period of a step turning task for further testing in Experiment Two. In Experiment Two participants undertook multiple trials of a step-turning task, 30 and 60° to the left and right of midline, at a self-selected pace in response to a visual cue. There were five objectives to Experiment Two. Firstly, to identify the predominant order in the onset of foot movement so that anticipatory muscle activity could be defined for this task. Secondly, to identify whether there is a consistent temporal order in movement onset between the head and the feet. Thirdly, to identify whether and how consistently anticipatory lower limb muscle activity is present bilaterally. Fourthly, to assess whether there is a consistent sequence in the onset of anticipatory muscle activity among muscles active in at least 80% of trials. The final objective was to identity whether there was a consistent temporal relationship in the onset of the anticipatory muscle activity present in at least 80% of trials, with the onset of head and foot movement. Study Design: A repeated measures design was used. Background: Anticipatory lower limb muscle activity in gait initiation and forward stepping studies has been reported to be consistently present, and associated with initial and important balance responses. Falls during turning are associated with a high incidence of hip fractures in the elderly population. The presence of anticipatory lower limb muscle activity turning has not been previously reported. Participants: There were five participants in Experiment One, and ten in Experiment Two. All were between 18 and 40 years of age and did not have neurological or musculoskeletal disorders, or severe visual loss. Results: In Experiment One, four muscles were consistently active bilaterally, during the early period of step-turning and were: tibialis anterior, gastrocnemius, biceps femoris and gluteus medius. In Experiment Two the ipsilateral foot moved before the contralateral foot in 68% of trials towards the left, and 79% of trials towards the right. The onset of head movement consistently occurred before the onset of foot movement during turns towards both directions. The percentage of trials in which the four muscles were active in an anticipatory manner was low bilaterally, ranging from 12 to 38% of trials. Objectives that involved the further analysis of muscles active in at least 80% of trials were unable to be completed. Conclusions: During a step-turning task young healthy adults predominantly move their ipsilateral foot before their contralateral foot. The consistent onset of head movement prior to that of the feet, indirectly suggests that the visual system might influence the temporal onset of the feet. The low levels of anticipatory muscle activity during step-turning suggest that the lower limbs are not involved with the initial balance responses for this task thus making it inherently different to gait initiation and forward stepping.

Undesirable landing area (e. g. , a hole, a fragment of glass, a water puddle, etc) creates the necessity for an alternate foot placement planning and execution. Previous study has proposed that three determinants are used by the central nervous system (CNS) for planning an alternate foot placement: minimum foot displacement, stability and maintenance of forward progression. However, validation of these determinants is lacking. Therefore, the general purpose of the series of studies presented here is to validate and test the generality of the decision algorithm of alternate foot placement selection developed previously. The first study was designed to validate the use of a virtual planar obstacle paradigm and the economy assumption behind minimum foot displacement determinant. Participants performed two blocks of trials. In one block, they were instructed to avoid stepping in a virtual planar obstacle projected in the screen of a LCD monitor embedded in the ground. In another block, they were instructed to avoid stepping in a real hole present in walkway. Behavioral response was unaffected by the presence of a real hole. In addition, it was suggested that minimum foot displacement results in minimum changes in EMG activity which validates the economy determinant. The second study was proposed to validate the stability determinant. Participants performed an avoidance task under two conditions: free and forced. In the free condition participants freely chose where to land in order to avoid stepping in a virtual obstacle. In the forced condition, a green arrow was projected over the obstacle indicating the direction of the alternate foot placement. The data from the free condition was used to determine the preferred alternate foot placement whereas the data from the forced condition was used to assess whole body stability. It was found that long and lateral foot placements are preferred because they result in a more stable behavior. The third study was designed to validate the alternate foot placement model in a more complex terrain. Participants were required to avoid stepping in two virtual planar obstacles placed in sequence. It was found that participants used the strategy of planning the avoidance movement globally and additional determinants were used. One of the additional determinants was implementation feasibility. In the third study, gaze behavior was also monitored and two behaviors emerged from this data. One sub-group of participants fixated on the area stepped during adaptive step, whereas another sub-group anchor their gaze in a spot ahead of the area-to-be avoided and used peripheral vision for controlling foot landing. In summary, this thesis validates the three determinants for the alternate foot placement planning model and extends the previous model to more complex terrains.

Walking around in dynamically changing environments require the integration of three of our sensory systems: visual, vestibular, and kinesethic. Vision is the only modality of these three sensory systems that provides information at a distance for proactively controlling locomotion (Gibson, 1958). The visual system provides information about self-motion, about body position and body segments relative to one another and the environment, and environmental information at a distance (Patla, 1998). Gibson (1979) developed the idea that everyday behaviour is controlled by perception-action coupling between an action and some specific information picked up from the optic flow that is generated by that action. Such that visual perception guides the action required to navigate safely through an environment and the action in turn alters perception. The objective of my thesis was to determine how well perception and action are coupled when approaching and walking through moving doors with dynamically changing apertures. My first two studies were grouped together and here I found that as the level of threat increased, the parameters of control changed and not the controlling mechanism. The two dominant action control parameters observed were a change in approach velocity and a change in posture (i. e. shoulder rotation). These findings add to previous work done in this area using a similar set-up in virtual reality, where after much practice participants increased success rate by decreasing velocity prior to crossing the doors. In my third study I found that visual fixation patterns and action parameters were similar when the location of the aperture was predictable and when it was not. Previous work from other researchers has shown that vision and a subsequent action are tightly coupled with a latency of about 1second. I have found that vision only tightly couples action when a specific action is required and the threat of a collision increases. My findings also point in the same direction as previous work that has shown that individuals look where they are going. My last study was designed to determine if we go where we are looking. Here I found that action does follow vision but is only loosely correlated. The most important and common finding from all the studies is that at 2 seconds prior to crossing the moving doors (any type of movement) vision seems to have the most profound effect on action. At this time variability in action is significantly lower than at prior times. I believe that my findings will help to understand how individuals use vision to modify actions in order to avoid colliding with other people or other moving objects within the environment. And this knowledge will help elderly individuals to be better able to cope with walking in cluttered environments and avoid contacting other objects.

The kinematic motor redundancy of the human legs provides more local degrees of freedom than are necessary to achieve low degree of freedom performance variables like leg length and orientation. The purpose of this dissertation is to investigate how the neuromuscular skeletal system simplifies control of a kinematically redundant system to achieve stable locomotion under different conditions. I propose that the neuromuscular skeletal system minimizes step to step variance of leg length and orientation while allowing segment angles to vary within the set of acceptable combinations of angles that achieves the desired leg length and orientation. I find that during human hopping, control of the locomotor system is organized hierarchically such that leg length and orientation are achieved by structuring segment angle variance. I also found that leg length and leg orientation was minimized for a variety of conditions and perturbations, including frequency, constrained foot placement, and different speeds. The results of this study will give valuable information on interjoint compensation strategies used when the locomotor system is perturbed. This work also provides evidence for neuromuscular system strategies in adapting to novel, difficult tasks. This information can be extended to give insight into new and different areas to focus on during gait rehabilitation of humans suffering from motor control deficits in movement and gait.

Our long-term goal is to better understand how the nervous system controls muscles to generate movement. Our overall hypothesis is that the nervous system coordinates muscles by flexibly recruiting muscle synergies, defined here as groups of muscles simultaneously activated in fixed ratios, in order to map high-level task goals into motor actions. Here we studied muscle coordination in the context of balance control - a task that requires multisensory integration and coordination of multiple muscles, yet has a clear goal of controlling the center of mass (CoM), which can be achieved by using different strategies. If muscle synergies are a common mechanism used by the nervous system for balance control, we would expect to see the same muscle synergies used in a variety of strategies. Therefore we investigated the robustness of the muscle synergies in a variety of human postural strategies, such as standing, stepping and walking, to determine whether muscle synergies are a consistent underlying mechanism used by the nervous system. We hypothesized that muscle synergies are recruited to control a task-level variable (e.g. CoM direction) that is not specific to a particular postural strategy. We demonstrated that similar muscle synergies are used in reactive responses to standing balance perturbations, in reactive stepping responses, in walking, and in reactive postural responses during walking, suggesting a common neural mechanism not only for balance control in various contexts, but for movement in general. The differences in the timing and spatial organization of muscle activity in standing, stepping, and walking postural responses were largely explained by altering the recruitment of a common set of muscle synergies, with the addition of only a single muscle synergy specific to each behavior. We demonstrated the functionality of muscle synergies by showing that each muscle synergy was correlated with a particular force produced at the ground and component of CoM acceleration both in stepping and in non-stepping postural responses. These results suggest that muscle synergies reflect the neural organization of the motor system, representing motor modules recruited to achieve a common biomechanical function across different postural behaviors. Additionally, muscle synergies used during walking were recruited during atypical phases of the gait cycle in response to an unexpected perturbation, in order to maintain balance and continue walking, suggesting a common neural mechanism for different balance requirements during walking. The compositions of muscle synergies used during walking were similar to those used during walking perturbations as well as standing balance perturbations, suggesting that muscle synergies represent common neural mechanisms for CoM movement control under different dynamic conditions. These results are of interest to a variety of fields such as rehabilitation science, prosthetics, and robotics.

Thesis (Ph. D.)--University of Missouri-Columbia, 2003. / Typescript. Vita. Includes bibliographical references (leaves 103-108). Also available on the Internet.

Thesis (Ph. D.)--University of Missouri-Columbia, 2003. / Typescript. Vita. Includes bibliographical references (leaves 103-108). Also available on the Internet.

published_or_final_version / Orthopaedic Surgery / Master / Master of Philosophy

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