Summary: A simple external marker system and algorithms for computing lower extremity joint angle motion during level walking were developed and implemented on a computer-aided video motion analysis system (VICON). The concept of embedded axes and Euler rotation angles was used to define the three-dimensional joint angle motion based on a set of body surface markers. Gait analysis was peformed on 40 normal young adults three times on three different test days at least 1 week apart using the marker system. Angular motion of the hip, knee, and ankle joints and of the pelvis were obtained throughout a gait cycle utilizing the three-dimensional trajectories of markers. The effect of uncertainties in defining the embedded axis on joint angles was demonstrated using sensitivity analysis. The errors in the estimation of joint angle motion were quantified with respect to the degree of error in the construction of embedded axes. The limitations of the model and the marker system in evaluating pathologic gait are discussed. The relatively small number of body surface markers used in the system render it easy to implement for use in routine clinical gait evaluations. Additionally, data presented in this paper should be a useful reference for describing and comparing pathologic gait patterns. Key Words: Gait analysis-Joint angles-Gait parametersBiomechanical model-Sensitivity analysis.Quantitative gait analysis is an important clinical tool for quantifying normal and pathological patterns of locomotion, and has been shown to be useful for prescription of treatment as well as in the evaluation of the results of such treatment (1,6,16,17). Typically, data acquired during a clinical gait analysis include relative positions and orientations of body segments, foot-floor reaction forces, temporal-distance parameters, and phasic activity of muscles of the lower extremities. Several practical methods in current use provide relative orientation of segments either directly or as a derived parameter from measurements of relative position of segments. For example, electrogoniome-

The repeatability of gait variables is an important consideration in the clinical use of results of quantitative gait analysis. Statistical measures were used to evaluate repeatability of kinematic, kinetic, and electromyographic data waveforms and spatiotemporal parameters of 40 normal subjects. Subjects were evaluated three times on each test day and on three different test days while walking at their preferred or natural speed. Intrasubject repeatability was excellent for kinematic data in the sagittal plane both within a test day as well as between test days. For joint angle motion in the frontal and transverse planes, the repeatability was good within a test day and poor between test days. Poor between-day repeatability of joint angle motion in the frontal and transverse planes was noted to be partly due to variabilities in the alignment of markers. Vertical reaction and fore-aft shear forces were more repeatable than the mediolateral shear force. Sagittal plane joint moments were more repeatable than frontal or transverse plane moments. For electromyographic data, repeatability within a day was slightly better than between test days. In general, the results demonstrate that with the subjects walking at their natural or preferred speed, the gait variables are quite repeatable. These observations suggest that it may be reasonable to base significant clinical decisions on the results of a single gait evaluation.

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Repeatability is an important consideration for gait analysis data that are being used as an adjunct to clinical decision making. An index of repeatability may be based on a statistical criterion (variance ratio) that reflects similarity of wave forms over a number of identical cycles. The purpose of this study was to use the variance ratio to assess the repeatability of phasic muscle activity recorded with surface and bipolar intramuscular wire electrodes during gait on 10 normal subjects. Variance ratios were calculated using rectified and smoothed electromyographic data recorded simultaneously from the two types of electrodes. Three measures of repeatability (reproducibility, reliability, and constancy--defined as the cycle-to-cycle, run-to-run, and day-to-day repeatability of phasic muscle activity) were used to compare the performance of the two electrode techniques. Results show that the reproducibility and reliability were better for surface electrodes than for intramuscular wire electrodes, and constancy was good for surface electrodes and poor for intramuscular wire electrodes. Repeatability improved with increasing smoothing window lengths but was better for surface electrodes than wire electrodes, irrespective of the smoothing window. This study indicates that surface electrode data represent a more consistent measure of activity of superficial muscles, if comparisons are to be made between gait data from different test days.

The action of the subscapularis muscle is an important component in maintaining shoulder stability. Because of its relative inaccessibility, there have been few electromyographic (EMG) studies of its normal patterns of activity. The subscapularis is innervated by two or more distinct nerves, and therefore the upper and lower parts of the muscle may have different functional roles depending on the position of the humerus. The purpose of this study was to develop safe, reproducible insertion paths to the upper and lower parts of the subscapularis. Six subjects with no previous history of shoulder injury were evaluated. The paths of insertion were designed based on previous anatomical studies as well as dissections. Two pairs of intramuscular wire electrodes were inserted: one directed toward the upper subscapularis and one toward the lower subscapularis. Electrode locations were confirmed using posteroanterior and lateral radiographs and through electrical stimulation. EMG data were recorded during isometric internal rotation exercises with the humerus in 0 or 90 degrees abduction. Significant differences were observed in the EMG activity recorded from the two pairs of electrodes. The EMG activity of the upper subscapularis either remained the same or decreased in going from 0 to 90 degrees abduction, while that of the lower subscapularis increased. The observed differential response confirmed that the electrodes were in different parts of the subscapularis. These preliminary results suggest that in future EMG studies, the subscapularis should be considered as at least two independent muscle units.

Human gait is a complex phenomenon. Many descriptors are needed to completely describe gait in terms of the biomechanics involved. The descriptors, when expressed as a function of the gait cycle, are complex waveforms. For each of these variables, a single "normal" pattern with bands of deviation has generally been accepted as a reference in clinical/research use to explain the abnormalities in a patient's walking pattern. In fact, one observes many "normal" patterns, and a body of research has been devoted to explaining the differences between these patterns in terms of walking speed, age, cadence, sex, etc. It would be simpler in one sense to start with the fact that different people walk with different patterns, not one pattern with bands of deviation. Numerical representation of the waveforms simplifies the analysis and interpretation of waveform data and facilitates comparison between subjects or groups of subjects. When combined with pattern recognition techniques, it also is useful for identifying subpatterns within a group. In this article, the numerical representation of electromyographic data by Karhunen-Loeve expansion are combined with cluster analysis to obtain patterns of dynamic phasic activity of 10 muscles of the lower extremity. From the 35 normal subjects walking at self-selected speed, two to four patterns are developed for each of the muscles and the physiological significance of the patterns are discussed.