Related Experiment Videos
A three-dimensional kinematic and dynamic model of the lower limb
J Apkarian1, S Naumann, B Cairns
1Institute of Biomedical Engineering, University of Toronto, Ontario, Canada.
Journal of Biomechanics
|January 1, 1989
Summary
This study presents a 12-degree-of-freedom lower limb model to analyze gait. It details calculating joint moments during walking using marker-based motion capture and Newton-Euler dynamics.
Area of Science:
- Biomechanics
- Robotics
- Human Movement Analysis
Background:
- Understanding lower limb biomechanics is crucial for diagnosing gait abnormalities and designing assistive devices.
- Existing models often simplify joint mechanics, limiting their accuracy in dynamic analyses.
Purpose of the Study:
- To develop a comprehensive kinematic and dynamic model of the human lower limb.
- To establish a method for computing joint moments during gait using marker-based motion capture.
Main Methods:
- Modeled the lower limb as four rigid links with three universal rotary joints (hip, knee, ankle).
- Each joint was further defined by three single-axis rotational joints, yielding 12 degrees of freedom.
- Utilized an iterative Newton-Euler formulation with gait variables derived from nine-marker motion capture data.
Main Results:
- Successfully computed all nine joint angles from marker positions during gait.
- Quantified the moments exerted about each joint axis during the gait cycle.
Conclusions:
- The presented model provides a robust framework for analyzing lower limb kinematics and dynamics.
- This methodology enables accurate computation of joint moments, valuable for clinical and research applications in gait analysis.