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Thomas Nikodelis1,Vasileios Konstantakos2, Ioannis Kosmadakis2 and Iraklis Kollias1 
1Biomechanics Lab, Department of Physical Education and Sport Science, Aristotle University of Thessaloniki 
 2Electronics Lab, Physics Department, Aristotle University of Thessaloniki
Thomas Nikodelis, Konstantinoupoleos 2 60100 Katerini Grecce, 00302351078132, fax:003023106363668,  HYPERLINK "mailto:nikmak@phed.auth.gr" nikmak@phed.auth.gr
Vasileios Konstantakos, Thessaloniki Grecce, 00302310992219,   HYPERLINK "mailto:vkonstad@auth.gr" vkonstad@auth.gr
Ioannis Kosmadakis, Thessaloniki Grecce, 00302310992219,   HYPERLINK "mailto:ikosm@physics.auth.gr" ikosm@physics.auth.gr 
Iraklis Kollias, Thessaloniki Grecce, 00302310992219,   HYPERLINK "mailto:hkollias@phed.auth.gr" hkollias@phed.auth.gr

Pelvis-upper trunk coordination at butterfly stroke and underwater dolphin kick. Application on an elite female butterfly swimmer. 

ABSTRACT
The purpose of the present study was to investigate the modeling of inter-segmental coordination of pelvis-upper trunk segments and its diversification between seemingly similar movements, butterfly and prone/supine dolphin kick, for a specific swimmer, using inertial sensors. Two pairs of 3D accelerometers and gyroscopes were placed at her upper trunk (C7) and pelvis. Analyses of flexion �extension angles  showed that: a) Peak to peak amplitude values were always larger at the pelvis. b) Autocorrelations showed higher periodicity for butterfly (coefficients >.95 �0.05), compared to dolphin kicks (0.7 to 0.9). c) Power spectrums revealed two fundamental frequencies at the butterfly, around 1Hz and 2Hz, accounting for the stroke cycle and the two kicks within it respectively, while dolphin kick tests had one fundamental frequency around 2.2Hz. d) Inter � segmental coordination of the pelvis-upper trunk segments had distinct differences between butterfly and dolphin kicks, with a trend to in-phase and to an anti-phase coordination mode respectively. At all cases, the stability of the relative phase, imprinted at the deviation from the mean ensemble curves, was smaller than 15 o. Dolphin kicks conditions did not present any exemplar differences between them at all the analyses. This method offered a different view on the coordination of the swimmer�s movement. 
KEY WORDS
Gyroscopes, swimming biomechanics, sensors, butterfly stroke, dolphin kick. 


INTRODUCTION 
Swimming strokes kinematics are traditionally monitored, analyzed and extracted for a small part of a race [ REF _Ref363389127 \r \h 1]. This practice, may facilitate methodological limitations due to restricting issues  arising from video analysis, though is not scientifically solid, despite the cyclic nature of swimming movements, which may justify it.
Skill level, swimming speed, fatigue, are just some of the factors or constrains that may interfere with the cyclic nature of swimming and therefore affect inter-segmental coordination from stroke to stroke [ REF _Ref363389150 \r \h 2].
There are studies that describe inter-segmental coordination in swimming using up to four consecutive stroke cycles [ REF _Ref363389179 \r \h 3]. Nevertheless, studying coordination especially under the perspective of dynamic systems theory, demands a large number of strokes to be analyzed in order to bring out the underlying coordination pattern,  accounting also for its stability over time [ REF _Ref363389192 \r \h 4].
Advancements in MEMS technology have facilitated the capturing of kinematic information related to almost every aspect of human movement. Small sensor size and portability, made them a highly utilizable tool for the area. They are a modern tool for swimming also, used for monitoring and capturing data for a long time and thus many stroke cycles [ REF _Ref363389204 \r \h 5, REF _Ref363389217 \r \h 6, REF _Ref363389230 \r \h 7]. They provide also the ability to measure limbs such as the trunk or the pelvis, which had methodological difficulties with conventional camera systems, due to limited view of their anatomical body landmarks, or due to difficulties in the 3-D reconstrucion of their local references [ REF _Ref363389244 \r \h 8].  Especially the last feature, makes the recording of trunk kinematics during swimming easier and more accurate. Trunk is perhaps the most important segment in butterfly and dolphin kick strokes.
Dolphin kick stroke, the underwater undulatory swimming is utilized after dives and turns in prone or supine position and is important in competitive swimming [ REF _Ref363389260 \r \h 9]. 
Dolphin kick and butterfly stroke use a �wave like� movement of the body. They both involve coordination of the cortical spine and the pelvis to accommodate the �wave� to pass through the body of the swimmer, in order to transfer and accumulate energy to the lower limbs. This  �whip like� oscillation of the body is a discriminative factor of good technique [ REF _Ref363389271 \r \h 10, REF _Ref363389283 \r \h 11] and affects the net stream-wise force exerted on the swimmer [ REF _Ref363389297 \r \h 12].
Theoretically, the wave-like motion travelled along the body should start at the pelvis-hip level [ REF _Ref363389316 \r \h 13]. Otherwise pivoting movements of the upper trunk may lead to a double pendulum model which could maximize drag, since it does not resemble the dolphin like motion with a streamlined upper body [ REF _Ref363389338 \r \h 14]. This is hardly the case in butterfly stroke where both the head and the upper trunk oscillation seem to contribute to propulsion [ REF _Ref363389283 \r \h 11]. 
 The trunk apart from providing a stable base of support during swimming  propulsion [ REF _Ref363389367 \r \h 15], especially in butterfly and dolphin kick strokes, is actually producing the potential for propulsion through the wave - like motion [ REF _Ref363389382 \r \h 16]. A simulation study of dolphin kick, [ REF _Ref363389395 \r \h 17] showed that trunk segments, in terms of rotational quantities may work anti-phase or in-phase depending the pursued goal (maximizing propelling efficiency - maximum speed). 
The way that the trunk works in our effort to mimic as closely as possible the dolphin�s movement, is not the same at every case and for everyone of us. Even in swimming, high inter-subject variability may be present [ REF _Ref363389424 \r \h 18]. That is why analysis of coordination and performance should be tailored to the individual [ REF _Ref363389443 \r \h 19]. 
Even descriptive comparisons within an individual, between butterfly and dolphin kicks, may facilitate the understanding and distinction of coordination of the upper and lower part of the trunk, or discriminate the characteristics which specify the pattern of the wave that passes along the body. Such research questions combined  with novel research methods (capturing of unlimited number of strokes) can be material of targeted research. 
The efficiency of dolphin kick techniques does not seem to rely on any specific kinematic parameters, instead it seems to depend on the body movement as a whole [ REF _Ref363389458 \r \h 20]. Therefore complex variables that describe inter-segmental interaction, like those incorporated from the Dynamic Systems Theory, are suitable for the study of inter-segmental coupling at butterfly and dolphin kick.
The aim of the present study was to explore the modeling of pelvis-upper trunk coordination and its diversification between seemingly similar movements, butterfly and prone/supine dolphin kick, for an elite female butterfly swimmer.
METHODS
An elite female swimmer (age 17) who signed an informed consent, swam 3 sets of 4x25m sprint with 1min rest between trials and 5min easy swimming between sets. Two sets were dolphin kick at prone and supine (back) position and one set was at butterfly stroke. A custom build waterproof implementation of two pairs of 3D accelerometers and gyroscopes controlled by small scale microprocessor with independent recording  (fig.1) was used [ REF _Ref363389483 \r \h 21]. Sensors were placed at the upper trunk (C7) and the pelvis (midpoint of the PSIS) with their x axis aligned to the longitudinal axis of the spinal cord (pic 1) in order to measure the 3D rotational and translational kinematics of the anatomical points. The  sampling frequency was fixed at 200Hz. After the end of the tests, sensors� data were downloaded to a PC through a custom wireless-to-serial communication interface.
All swimmer�s trials were timed by an experienced time-keeper. Sensors� original data were smoothed with a low pass 2nd order Butterworth filter with a cut-off frequency set at 5Hz  (fig 2)
Gyroscope smoothed data were integrated to provide angular displacement data. Systematic drift of the gyroscopes was subtracted from the data through an optimization method that calculated the average inclination of the drift through least square linear approximation. Angular displacement drift was subtracted from the data according to this inclination that should ideally be zero.
Data were originally separated to trials  from visual inspection of angular velocity curves. At a second step net oscillation phases and particularly flexion - extension angles of the upper trunk (C7) and the pelvis were stored for further analysis.
Peak to peak amplitude was used to describe the mobility of the selected segments. 
Autocorrelation analysis was used to investigate any possible fluctuations on the stationary of the cyclic nature of each segment�s movement.
Power spectrums were used to investigate frequencies with different biological significance.
Relative phase between the two moving segments was calculated to provide a measure of their coordination and reflect the complexity of the synergistic organization of the neuromuscular system [ REF _Ref363389192 \r \h 4].
Relative Phase between the pelvis and the upper trunk for every arm stroke was calculated using the following steps [ REF _Ref363389524 \r \h 22]: A phase plot of each segment was first drawn (angular position versus angular velocity). From these plots, the phase angle of each segment was calculated using the following relationship (eq. 1):
 EMBED Equation.3   (1)
Where � is the phase angle, y is the angular velocity and x the angular displacement of each segment. By subtracting the phase angle of the proximal (C7- upper trunk) from that of the distal (pelvis) segment, the Relative Phase curve was obtained. Supplementary, the standard deviation of the mean relative phase curve at each point was calculated to provide an indication of the stability of the coordination between the segments, within the stroke cycles.
All analyses were held in Mat lab.
Results
All variables presented in this section represent the average values of all cycles of all trials for the same test. All figures present a 5 seconds window of the whole movement.
Butterfly stroke, was the faster test for the particular swimmer (14.4�0.1sec), followed by back dolphin kick (14.9�0.1sec) and finally dolphin kick(15.3�0.1sec). 
Peak to peak amplitude values of flexion - extension angles were larger at the pelvis than the C7 for every test. The difference between them was larger for butterfly stroke (pelvis 37.8o �3.2o - C7 34.8o �5.6o) and smaller for the back position dolphin kick (pelvis 12.6o �3.1o - C7 12.1o �1.6o). Representative curves for each test are shown in figure 3. 
Autocorrelations showed higher periodicity for butterfly stroke coefficients >.95 �0.05, while the coefficients for dolphin kicks ranged from 0.7 to 0.9. Pelvis segment had slightly larger correlation coefficients from the upper trunk for any of the tests. A representative trial of each test is imprinted in figure 4.
The power spectrums revealed two fundamental frequencies at the butterfly stroke, the first around 1Hz representing the stroke period and the second around 2Hz accounting for the two kicks within the stroke cycle (figure 5), with larger amplitudes for the pelvis, while dolphin kick tests had one fundamental frequency around 2.2Hz. At both dolphin kick conditions power amplitudes of the two segments were around the same values, in resemblance to the time domain findings. Figure 5 presents the power spectrums of the representative trials from figure 3.
Phase plots (angle-angular velocity) that were used for the calculation of the relative phase revealed a high intra-stroke consistency with small variation and exemplary stable coordination patterns for each segment. Representative trials from each test are presented in figure 6. Relative phase was different for each condition with the butterfly stroke having a stable in - phase coordination pattern for 50-60% of the cycle and the dolphin kick having anti-phase plateaus for 50% of the cycle. The curves from the two dolphin kick conditions were similar (Fig.7). Finally the stability of the relative phase curves was satisfactory since the larger deviation from the mean ensemble curves was smaller than 15 o.
Discussion
Underwater dolphin kick is considered to be equally fast and at some cases even faster than butterfly stroke providing that the swimmer has an excellent technique. Almost always back dolphin kick is faster than the actual backstroke [ REF _Ref363389382 \r \h 16]. Either way body velocity during underwater dolphin kick is a parameter supposed to separate good from great swimmers [ REF _Ref363389586 \r \h 23]. 
The female swimmer under study is especially fast at back dolphin kick, almost as fast as at butterfly stroke. This indicates a high level of kicking technique emphasized also from the small deviation of her times at all tests.
 The amplitude values of flexion - extension especially at the butterfly stroke indicate that the swimmer undulates her upper trunk less than the pelvis. This interpretation may seem controversial with the provided evidence that the vertical movements of the head and the shoulders exceeds those of the hips [ REF _Ref363389283 \r \h 11]. Indeed the swimmer has larger vertical displacement at the shoulder level compared to the hip level, both visually and quantitatively verified (unpublished data). Nevertheless the acquired information refers to the changes in the inclination of the upper trunk and this is quite different from its vertical displacement. Although from mathematical point of view a travelling wave has strictly the same frequency, thus same rotational amplitude all the way, it is quite reasonable for elite butterfly swimmers and at least evident at our swimmer�s case, to enhance this wave at the pelvis level by actively rotating the pelvis. It is worth mentioning that the swimmer presents two reversals at the angle histories for a butterfly cycle. The first dignifies the first kick, head in, glutei up, both doing forward rotation (max flexion) and this must be the point of the wave enhancement effort, where she tries to increase the energy of the wave with the rotation of the pelvis. The second kick does not seem to affect that much pelvis and upper trunk rotation. Either way the lack of hip and pelvis movement is the most common problem in novice swimmers and it is poorly compensated by excessive knee flexion-extension [ REF _Ref363389316 \r \h 13]. Furthermore there are evidence that reduced knee flexion extension and upper body vertical movement is associated with elite butterfly performers [ REF _Ref363389648 \r \h 24]. 
Regarding the dolphin kick conditions it is clear that the wave-like motion is not restricted at the pelvis-hip level and downwards. Instead the amplitudes of upper trunk indicate pivoting movements. Those movements may be necessary to keep her body at an optimum depth [ REF _Ref363389664 \r \h 25]. Upper limb movements, although in the vertical direction only and not rotational, have been found to work as a stabilizing device in fin-swimming [ REF _Ref363389316 \r \h 13]. 
Pivoting movements of the upper trunk during dolphin kick can probably be attributed to musculoskeletal constrains. Dolphins for example in contrast with humans, have vertebrae leading up to the end of the tail and can maintain a minimum displacement along the length of the body until the wave reaches the caudal peduncle, where it increases sharply [ REF _Ref363389692 \r \h 26, REF _Ref363389705 \r \h 27, REF _Ref363389722 \r \h 28].
At butterfly stroke both the upper trunk and the pelvis are actively working to produce or enhance the body wave. Thus the finding  that the swimmer�s selected segments movement is more periodic during butterfly, may be due to the active control of the trunk. Both dolphin kick conditions yield high autocorrelation coefficients also. This noticeable stationarity of the signals permits more sophisticated analyses for the quantification of inter-segmental coordination. 
The power spectrums revealed that almost all the power of every signal was gathered underneath one harmonic (fundamental) frequency for the dolphin kicks and two frequencies for the butterfly stroke, one accounting for the stroke period and the other with much smaller power, accounting for the 2-kick rhythm which affected the rotational movement of the selected segments. It seems that the swimmer�s movement resembles well a mechanical pendulum-like oscillation without any power spread at other frequencies, as movement noise. This result, which indicates that the movement pattern is not affected by any constrains such as fatigue or approach to the wall (finish) of every trial,  is consistent with the literature for the vertical oscillations at both butterfly [ REF _Ref363389283 \r \h 11] and underwater undulatory swimming [ REF _Ref363389760 \r \h 29].
 The swimmer�s coordination pattern at butterfly was quite different from the dolphin kick conditions.
Differences at the phase plots were observed between butterfly stroke and dolphin kick conditions probably due to the breathing, the 2-bit kicking of the butterfly technique and the whole body coordination demands (arms-breathing � legs). The reversals shown in the relative phase curve of the butterfly stroke represent the upward and downward acceleration periods of the 2bit - kick during butterfly. The coordination of the selected segments during the two kicks seem to have in-phase (0o) periods [ REF _Ref363389781 \r \h 30] that lasts around 50%-60% of the stroke cycle indicating that the in - phase inter-segmental coupling prevailed across the stroke cycle. In conjunction there are only two reversals in the dolphin kick conditions. It is remarkable that each reversal represents a plateau of an anti - phase coordination mode (�180o) [ REF _Ref363389797 \r \h 31] that lasts around 20%-30% of the kicking cycle. Overall during dolphin kick conditions the two segments are in an anti - phase mode for almost 50% of the kicking cycle without any noticeable differences between prone and dorsal position. This is an indication of a counter rotation of the upper trunk which most probably serves for the swimmer�s body stability. The relatively small variability of the relative phase curves is a good indication of the stability of the coordination patterns [ REF _Ref363389797 \r \h 31], which seems to be unrelated to test conditions and to the within stroke or kicking cycle changes of the inter-segmental coupling.
Conclusively inter � segmental coordination of the pelvis-upper trunk segments for the specific swimmer has distinct differences between butterfly and dolphin kicks with a trend to in-phase and to an anti-phase coordination mode respectively. The swimmer�s performance at dolphin kick in the back and in the prone position did not present any exemplar differences at the measured variables. Anyhow the specific methodological approach provided interesting information about the swimmer�s styles of butterfly and dolphin kick which were not available with traditional tools for kinematic analysis. The utilized method can be a general purpose method that can provide new perspectives in the study of coordination and variability of swimming movements [ REF _Ref363389835 \r \h 32] and help us further evolve the performance of swimmers. Although the findings of this study are from just one specific swimmer they can be of use in the exploration of general principles of inter-segmental coordination or movement characteristics of butterfly and dolphin kick strokes. Anyhow analyzing a swimmer�s movement with an innovative and detailed method like the one used at this study, provides a different visualization for the coach and this perspective may be beneficial for him to come up with new ideas to improve his swimmer.
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