Evaluation os Kinematics Human Moviments

1. Biomechanics of Movement
Biomedical Engineering MCs
Instituto Superior Técnico
+
Lisbon, November 2011
Presentation by Group 7:
Diana Santos, 72459
Joana Paulo, 72455
Marta Ornelas, 62840
Rui Pinto, 62842

2. Biomechanics of
+
Movement
1st Semester, 4th
Year
 Introduction
 Movement description
 Methodology Description
 Results
 Conclusion
 References
Group 7
 Questions
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

3. Biomechanics of
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Movement
1st Semester, 4th
Year
 Biomechanics
 Gait
 Kinematics Analisys
 Multybody System
 Newton-Raphson
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

4. Biomechanics of
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Movement
1st Semester, 4th
Year
 What is Biomechanics?
The Biomechanics is the study of the behavior of
biological systems using and applying the concepts and
laws of mechanics.
Mechanical
Analysis
Biomechanics
Group 7
Diana Santos Biological
Joana Paulo Systems
Marta Ornelas
Rui Pinto Lisbon, November 2011

5. Biomechanics of
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Movement
1st Semester, 4th
Year
Middle Scientif
Antiquity Renaissance
Ages Revolution
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

6. Biomechanics of
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Movement
1st Semester, 4th
Year
Century of the
Enlightenment 20th Century
Gait
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

7. Biomechanics of
+
Movement
1st Semester, 4th
Year
Gait
 is the pattern of limb
movement of animals,
including humans, during
locomotion over a solid
substrate.
 Its cycle is defined by the
period of time from the
initial point of contact of the
foot with the ground until
Group 7 the next point of initial
Diana Santos contact. Figure 1. Example of Gait
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

8. Biomechanics of
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Movement
1st Semester, 4th Initial
contact
Year
Terminal Loading
Swing Response
Swing Stance
Midswing Phase Phase Midstance
(40%) (60%)
Initial Terminal
Swing Stance
Diana Santos
Preswing
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

9. Biomechanics of
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Movement
1st Semester, 4th
Year
Group 7
Diana Santos Figure 2. Phase Support - Contact the foot with the ground
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

10. Biomechanics of
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Movement
1st Semester, 4th
Year
 The classical analytical methods, for kinematic analysis,
are too difficult to use and its not a practical method for
systems of high complexity.
 Alternatively, we use a multibody model
 A set of two or more rigid or flexible bodies, connected by
joints or kinematic pairs, on which external forces can be
applied.
 Its relative easy of computational implementation
 They are used in various applications, including aerospace,
Group 7 automotive systems (suspension) in the medical and robotics
Diana Santos
(surgical robots).
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

11. Biomechanics of
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Movement
1st Semester, 4th
Year
 Vector of generalized coordinates (q)
𝑞 = {𝑞1 , 𝑞2 , … , 𝑞 𝑛 }
 Vector Constraints (φ(q,t))
Φ1
Φ 𝑞, 𝑡 = Φ2 𝑧 = 0
…
Φ 𝑛ℎ
 Degrees of Freedom
𝑛 𝑔𝑙 = 𝑛 𝑐 − 𝑛ℎ
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

12. Biomechanics of
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Movement
1st Semester, 4th
Year
𝜙 𝑃𝐼 𝑟𝑖 , 𝑟𝑗 , 𝑟 𝑘 , 𝑟𝑙
Inner Product = 𝑟𝑖𝑗 𝑇 𝑟 𝑘𝑙 − 𝐿 𝑖𝑗 𝐿 𝑘𝑙 cos(𝜃 𝑡 )
𝑃𝐼
𝜙𝑞 = −𝑟 𝑘𝑙 𝑇 𝑟 𝑘𝑙 𝑇 −𝑟𝑖𝑗 𝑇 𝑟𝑖𝑗 𝑇
𝑃𝐼
Rigid Body 𝜙𝑞 𝑟𝑖 , 𝑟𝑗 = 𝑟𝑖𝑗 𝑇 𝑟𝑖𝑗 − 𝐿 𝑖𝑗 2
Global Vector
Constraints
𝜙 𝑃𝐸 𝑟𝑖 , 𝑟𝑗 , 𝑟 𝑘 , 𝑟𝑙
= 𝑟𝑖𝑗 𝑇 𝑟 𝑘𝑙 − 𝐿 𝑖𝑗 𝐿 𝑘𝑙 𝑠𝑖𝑛(𝜃 𝑡 )
External Product 𝑃𝐸
𝜙𝑞 = −𝑟 𝑘𝑙 𝑇 𝑟 𝑘𝑙 𝑇 −𝑟𝑖𝑗 𝑇 𝑟𝑖𝑗 𝑇
Group 7
Diana Santos 𝜙 𝐽𝑅 𝑞 = 𝑟𝑖𝑗 = 0
Joana Paulo Explicit
Marta Ornelas Revolution Joints 𝜙 𝑞 𝐽𝑅 = −𝐼 𝐼
Rui Pinto Lisbon, November 2011

13. Biomechanics of
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Movement
1st Semester, 4th
Year
𝜙 𝐺𝐴 𝑞, 𝑡
Rotation 𝜙 𝑃𝐼 𝑟𝑖 , 𝑟𝑗 , 𝑟 𝑘 , 𝑟𝑙 = 𝑟𝑖𝑗 𝑇 𝑟 𝑘𝑙 − 𝐿 𝑖𝑗 𝐿 𝑘𝑙 𝑐𝑜𝑠 ∗(𝜃 𝑡 )
(Angular) =
𝜙 𝑃𝐼 𝑟𝑖 , 𝑟𝑗 , 𝑟 𝑘 , 𝑟𝑙 = 𝑟𝑖𝑗 𝑇 𝑟 𝑘𝑙 − 𝐿 𝑖𝑗 𝐿 𝑘𝑙 𝑠𝑖𝑛∗ (𝜃 𝑡 )
Guiding Translational 𝜙 𝐺𝐿 𝑞, 𝑡
Constraints (linear) 𝜙 𝑃𝐼 𝑟𝑖 , 𝑟𝑗 , 𝑟 𝑘 , 𝑟𝑙 = 𝑟𝑖𝑗 𝑇 𝑟 𝑘𝑙 − 𝐿 𝑖𝑗 𝐿 𝑘𝑙 𝑐𝑜𝑠 ∗(𝜃 𝑡 )
=
𝜙 𝑃 𝑟𝑖 , 𝑟𝑗 , 𝑟 𝑘 , 𝑟𝑙 = 𝑟𝑖𝑗 𝑇 𝑟 𝑘𝑙 − 𝐿 𝑖𝑗 𝐿 𝑘𝑙 𝑠𝑖𝑛∗ (𝜃 𝑡 )
Φ 𝐺𝐿 𝑞, 𝑡 = Φ 𝑃𝐼 𝑞, 𝑡 = 𝑟𝑖𝑗 𝑇 𝑟𝑖𝑗 − 𝐿 𝑖𝑗 2∗ (𝑡) = 0
Φ 𝐺𝑇 𝑞, 𝑡 = Φ 𝑃𝐼 𝑞, 𝑡 = 𝑟𝑖 − 𝑟𝑖 ∗ = 0
Trajectory
Φ 𝐺𝑇 𝑞 𝑞 = [𝐼]
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

14. Biomechanics of
+
Movement
1st Semester, 4th
Year
Figure 3. Outline of the Laboratory
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

15. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

16. Biomechanics of
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Movement
1st Semester, 4th
Year
1
2
6
3
5
4 7=8=9
10=11 12=13
16=17
14=15 20 21
18
Group 7
19
Diana Santos Figure 4. Real Model Figure 4. Computational
Joana Paulo Representation of the Model Used
Marta Ornelas
Rui Pinto Lisbon, November 2011

17. Biomechanics of
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Movement
1st Semester, 4th
Year
Table 1. Characteristics of the multibody system
Natural coordinates 42
Rigid Bodies 12
Segments 16
Revolute Joints 12
Rigid Body Constraints 16
Explicit Joins Contraints 12
Guiding Constraints 14
Number of Constraints 42
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

18. Biomechanics of
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Movement
1st Semester, 4th
Year
Table 2. Anthropometric Parameters of the Model
Body Part Average Length (cm) Measured Length (cm)
Head - Neck 32.7 31,0
Shoulder - Left Elbow 28.6 30,3
Shoulder – Right Elbow 31.5 29,6
Elbow - Left Hand 26.4 26,7
Elbow - Right Hand 26.2 26,8
Body 48.9 51
Hip – Right Knee 43.7 42,9
Hip – Left Knee 45.5 41,5
Knee - Right Ankle 42,4 42,4
Knee - Left Ankle 39,3 42,5
Ankle - Right Heel 6,6 7,9
Ankle - Left Heel 6,5 7,9
Ankle - Right Metatarsus 11,2 12,3
Group 7 Ankle - Left Metatarsus 10,2 13,0
Diana Santos Heel - Right Metatarsus 15,3 18,5
Joana Paulo
Heel - Left Metatarsus 13,9 18,2
Marta Ornelas
Rui Pinto Lisbon, November 2011

19. Biomechanics of
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Movement
1st Semester, 4th
Year
In the Lab
Data
Position
Low Pass
filtered
Interpolation with a
Using Splines frequency
of 3 Hz.
Group 7 Angles
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

20. Biomechanics of
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Movement
1st Semester, 4th
Year
Guiding
Constraints
Trajectory Angular
Updated at
every time
point
Mapping
Table
We need to
solve the
Constraints
Group 7 system:
Diana Santos φ(q,t) = 0
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

21. Biomechanics of
+
Movement
1st Semester, 4th
Year
After solving the system with the Newton-Raphson method, for
each instant of time, we get:
Positions Velocities Accelerations
For each point of the multibody model.
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

22. Biomechanics of
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Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

23. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

24. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

25. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

26. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

27. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

28. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

29. Biomechanics of
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Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

30. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

31. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

32. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

33. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

34. Biomechanics of
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Movement
1st Semester, 4th
Year
 The proposed multibody model was correctly
implemented in Matlab;
 The velocity and acceleration results are consistent with
gait;
 Body segment angles were in agreement with the
references – normal gait.
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011

35. Biomechanics of
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Movement
1st Semester, 4th
Year
 M. Silva, Apontamentos sobre Contributos Históricos para a
Biomecânica do Movimento, DEM, IST, 2004.
 M. Silva, Apontamentos sobre Cinemática, DEM, IST, 2010.
 Thies, Sibylle B. et al, Influence of an irregular surface and low
light on the step variability of patients with peripheral neurpahty
during level gait, University of Michigan, USA, 19 August 2004.
 Pinto, Susana, A Marcha Humana em Análise, Seminário na
Faculdade de Medicina de Lisboa.
 Perry J. Gait Analysis: Normal and Pathological Function. 1992.
Group 7  Winter David; The Biomechanics and Motor Control of Human
Diana Santos Gait: Normal, Elderly and Pathological, University of Waterloo
Joana Paulo press, Second Edition.
Marta Ornelas
Rui Pinto Lisbon, November 2011

36. Biomechanics of
+
Movement
1st Semester, 4th
Year
Group 7
Diana Santos
Joana Paulo
Marta Ornelas
Rui Pinto Lisbon, November 2011