A stance period approach for simplified observation of galloping as applied to canines

SUMMARYThe gallop is the preferred gait by mammals for agile traversal through terrain. This motion is intrinsically complex as the feet are used individually and asymmetrically. Simple models provide a conceptual framework for understanding this gait. In this light, this paper considers the footfall projections as suggested by an impulse model for galloping as a measurement simplifying strategy. Instead of concentrating on forces and inverse dynamics, this view focuses observations on leg motion (footfalls and stance periods) for subsequent gallop analysis and parameter estimation. In practice, this eases experiments (particularly for IR-based motion capture) by extending the experimental workspace, removing the need for single-leg contact force-plate measurements, and reducing the marker set. This provides shorter setup times, and it reduces postprocessing as data are less likely to suffer from occlusion, errant correspondence, and tissue flexion. This approach is tested using with three canine subjects (ranging from 8 to 24 kg) performing primarily rotary gallops down a 15 m runway. Normalized results are in keeping with insights from previous animal and legged robot studies and are consistent with motions suggested by said impulse model.

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A SIX-LINK KINEMATIC CHAIN MODEL OF HUMAN BODY USING KANE'S METHOD

International Journal of Modern Physics Conference Series ◽

10.1142/s2010194512005107 ◽

2012 ◽

Vol 09 ◽

pp. 59-67 ◽

Cited By ~ 3

Author(s):

A. S. RAMBELY ◽

FAZROLROZI

Keyword(s):

Motion Capture ◽

Human Body ◽

Inverse Dynamics ◽

Force Plate ◽

Kinematic Chain ◽

Chain Model ◽

Upper Arm ◽

Kinematic Data ◽

Kane’S Method ◽

Kane's Method

A biomechanics model of six-link kinematic chain of human body is developed by using Kane's method. The kinematic data comprise of six segments; foot, calf, thigh, trunk, upper arm and forearm, are obtained through data collection of walking, running and jumping using the Vicon Nexus system. The motion capture system uses 12 Vicon MX-3+ cameras and 12 Vicon MX-F40 cameras, two DV (50 Hz) cameras and a force plate (100 Hz). Inverse dynamics approach is used to obtain the unknown value of torques produced by joint segments during walking, running and jumping activities. The results show that the largest value of torques produced occurs at the foot segment.

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Whole-body contact force sensing from motion capture

2016 IEEE/SICE International Symposium on System Integration (SII) ◽

10.1109/sii.2016.7843975 ◽

2016 ◽

Cited By ~ 4

Author(s):

Tu-Hoa Pham ◽

Adrien Bufort ◽

Stephane Caron ◽

Abderrahmane Kheddar

Keyword(s):

Motion Capture ◽

Contact Force ◽

Whole Body ◽

Force Sensing ◽

Body Contact

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Effect of outdoor footwear bending stiffness on metatarsophalangeal joint kinematics, kinetics, and energy balance during level and uphill walking

Proceedings of the Institution of Mechanical Engineers Part P Journal of Sports Engineering and Technology ◽

10.1177/17543371211008793 ◽

2021 ◽

pp. 175433712110087

Author(s):

Giuseppe Zullo ◽

Giuseppe Marcolin ◽

Paolo Mistretta ◽

Nicola Petrone

Keyword(s):

Energy Balance ◽

Motion Capture ◽

Healthy Subjects ◽

Force Plate ◽

Objective Measure ◽

Metatarsophalangeal Joint ◽

Bending Stiffness ◽

Motion Capture System ◽

Metatarsophalangeal Joints ◽

Uphill Walking

In outdoor footwear, sole properties must guarantee grip with the ground and support the forefoot without altering the kinematics of the metatarsophalangeal joints (MPJ). The present study aimed to implement an objective measure of shoe bending stiffness and investigate the effect of shoes with different bending stiffness on MPJ kinematics, kinetics, and energy balance during walking. The bending stiffness of four shoes was calculated using a customized flexometer. Then, the influence of each footwear on MPJ biomechanics during level and uphill walking was investigated with a motion capture system and a force plate on 10 healthy subjects. Results showed that MPJ peak dorsiflexion angle, stiffness, and energy balance were affected both by shoe bending stiffness ( p<0.001) and walking slope ( p<0.001). The findings of the study, which quantify the influence of shoe stiffness on MPJ biomechanics, will be helpful in the design of outdoor footwear.

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Functional Evaluation of a Personalized Orthosis for Knee Osteoarthritis - A Motion Capture Analysis

Journal of Medical Devices ◽

10.1115/1.4051626 ◽

2021 ◽

Author(s):

Martin Huber ◽

Matthew Eschbach ◽

Kazem Kazerounian ◽

Horea T. Ilies

Keyword(s):

Knee Joint ◽

Knee Osteoarthritis ◽

Motion Capture ◽

Inverse Dynamics ◽

Statistical Significance ◽

Knee Kinematics ◽

Contact Forces ◽

Patient Specific ◽

Functional Evaluation ◽

Shock Absorption

Abstract Knee osteoarthritis (OA) is a disease that compromises the cartilage inside the knee joint, resulting in pain and impaired mobility. Bracing is a common treatment, however currently prescribed braces cannot treat bicompartmental knee OA, fail to consider the muscle weakness that typically accompanies the disease, and utilize hinges that restrict the knee's natural biomechanics. We have developed and evaluated a brace which addresses these shortcomings. This process has respected three principal design goals: reducing the load experienced across the entire knee joint, generating a supportive moment to aid the muscles in shock absorption, and interfering minimally with gait kinematics. Load reduction is achieved via the compression of medial and lateral leaf springs, and magnetorheological dampers provide the supportive moment during knee loading. A novel, personalized joint mechanism replaces a traditional hinge to reduce interference with knee kinematics. Using motion capture gait analysis, we evaluated the basic functionality of a prototype device. We calculated, via inverse dynamics analysis, the reaction forces at the knee joint and the moments generated by the leg muscles during gait. Comparing these values between braced and unbraced trials allowed us to evaluate the system's effectiveness. Kinematic measurements showed the extent to which the brace interfered with natural gait characteristics. Of the three design goals: a reduction in knee contact forces was demonstrated; increased shock absorption was observed, but not to statistical significance; and natural gait was largely preserved. The techniques presented in this paper could lead to improved OA treatment through patient-specific braces.

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Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism

Science in China Series E ◽

10.1007/s11431-008-0029-5 ◽

2008 ◽

Vol 51 (3) ◽

pp. 288-301 ◽

Cited By ~ 6

Author(s):

HaiTao Liu ◽

JiangPing Mei ◽

XueMan Zhao ◽

Tian Huang ◽

D. G. Chetwynd

Keyword(s):

Parameter Estimation ◽

Parallel Mechanism ◽

Inverse Dynamics ◽

Spherical Parallel Mechanism

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A Well-Posed, Embedded Constraint Representation of Joint Moments From Kinesiological Measurements

Journal of Biomechanical Engineering ◽

10.1115/1.1286677 ◽

2000 ◽

Vol 122 (4) ◽

pp. 437-445 ◽

Cited By ~ 4

Author(s):

Behzad Dariush ◽

Hooshang Hemami ◽

Mohamad Parnianpour

Keyword(s):

Inverse Dynamics ◽

Force Plate ◽

Dynamics Analysis ◽

Noise Levels ◽

Joint Moments ◽

Planar System ◽

Open Chain ◽

Inverse Dynamics Analysis ◽

Well Posed ◽

Dynamics Method

Joint moment estimation using the traditional inverse dynamics analysis presents two challenging problems, which limit its reliability. First, the quality of the computed moments depends directly on unreliable estimates of the segment accelerations obtained numerically by differentiating noisy marker measurements. Second, the representation of joint moments from combined video and force plate measurements belongs to a class of ill-posed problems, which does not possess a unique solution. This paper presents a well-posed representation derived from an embedded constraint equation. The proposed method, referred to as the embedded constraint representation (ECR), provides unique moment estimates, which satisfy all measurement constraints and boundary conditions and require fewer acceleration components than the traditional inverse dynamics method. Specifically, for an n-segment open chain planar system, the ECR requires n−3 acceleration components as compared to 3n−1 components required by the traditional (from ground up) inverse dynamics analysis. Based on a simulated experiment using a simple three-segment model, the precision of the ECR is evaluated at different noise levels and compared to the traditional inverse dynamics technique. At the lowest noise levels, the inverse dynamics method is up to 50 percent more accurate while at the highest noise levels the ECR method is up to 100 percent more accurate. The ECR results over the entire range of noise levels reveals an average improvement on the order 20 percent in estimating the moments distal to the force plate and no significant improvement in estimating moments proximal to the force plate. The new method is particularly advantageous in a combined video, force plate, and accelerometery sensing strategy. [S0148-0731(00)01904-X]

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Intra-Articular Knee Contact Force Estimation During Walking Using Force-Reaction Elements and Subject-Specific Joint Model2

Journal of Biomechanical Engineering ◽

10.1115/1.4032414 ◽

2016 ◽

Vol 138 (2) ◽

Cited By ~ 12

Author(s):

Yihwan Jung ◽

Cong-Bo Phan ◽

Seungbum Koo

Keyword(s):

Contact Force ◽

Inverse Dynamics ◽

Reaction Force ◽

Muscle Tension ◽

Contact Forces ◽

Contact Model ◽

Grand Challenge ◽

Subject Specific ◽

Mean Square Errors

Joint contact forces measured with instrumented knee implants have not only revealed general patterns of joint loading but also showed individual variations that could be due to differences in anatomy and joint kinematics. Musculoskeletal human models for dynamic simulation have been utilized to understand body kinetics including joint moments, muscle tension, and knee contact forces. The objectives of this study were to develop a knee contact model which can predict knee contact forces using an inverse dynamics-based optimization solver and to investigate the effect of joint constraints on knee contact force prediction. A knee contact model was developed to include 32 reaction force elements on the surface of a tibial insert of a total knee replacement (TKR), which was embedded in a full-body musculoskeletal model. Various external measurements including motion data and external force data during walking trials of a subject with an instrumented knee implant were provided from the Sixth Grand Challenge Competition to Predict in vivo Knee Loads. Knee contact forces in the medial and lateral portions of the instrumented knee implant were also provided for the same walking trials. A knee contact model with a hinge joint and normal alignment could predict knee contact forces with root mean square errors (RMSEs) of 165 N and 288 N for the medial and lateral portions of the knee, respectively, and coefficients of determination (R2) of 0.70 and −0.63. When the degrees-of-freedom (DOF) of the knee and locations of leg markers were adjusted to account for the valgus lower-limb alignment of the subject, RMSE values improved to 144 N and 179 N, and R2 values improved to 0.77 and 0.37, respectively. The proposed knee contact model with subject-specific joint model could predict in vivo knee contact forces with reasonable accuracy. This model may contribute to the development and improvement of knee arthroplasty.

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