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3D Kinematic Gait Analysis for Preclinical Studies in Rodents
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Dual Quaternion-Based Forward and Inverse Kinematics for Two-Dimensional Gait Analysis.

Rodolfo Vergara-Hernandez1, Juan-Carlos Gonzalez-Islas1, Omar-Arturo Dominguez-Ramirez1

  • 1Basic Sciences and Engineering Institute, Autonomous University of the State of Hidalgo, Pachuca 42184, Hidalgo, Mexico.

Journal of Functional Morphology and Kinesiology
|August 22, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a novel framework for 2D gait analysis using quaternion-based kinematic modeling to accurately estimate joint variables and avoid singularities. The methods effectively calculate lower limb posture and joint angles for various walking patterns.

Keywords:
dual quaternionsforward kinematicsgait analysisinverse kinematicssagittal plane

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Area of Science:

  • Biomechanics
  • Robotics
  • Computational Kinematics

Background:

  • Gait kinematics analyzes joint angles and segment movements during walking.
  • Existing gait analysis methods face challenges in accuracy, singularities, and modeling complexity.
  • Quaternion-based kinematic modeling offers a potential solution for enhanced gait analysis.

Purpose of the Study:

  • To propose a 2D gait analysis framework using quaternion-based kinematic modeling.
  • To address and overcome singularities in joint variable estimation.
  • To improve the accuracy of gait analysis.

Main Methods:

  • Utilized dual quaternions' composition for forward kinematics (FK).
  • Employed the Damped Least Square (DLS) Jacobian method for inverse kinematics (IK).
  • Assessed performance using Root Mean Square Error (RMSE) across normal, toe-walking, and heel-walking gait patterns.

Main Results:

  • The proposed FK and IK methods accurately calculated posture and joint angles for a three-degrees-of-freedom (DoF) lower limb kinematic chain.
  • Demonstrated effectiveness across diverse gait patterns.
  • Validated the precision of quaternion-based modeling in kinematic analysis.

Conclusions:

  • The developed framework provides an accurate and singularity-free approach to 2D gait analysis.
  • Potential for extension to model more complex kinematic chains, including the full human body.
  • Applicable for clinical gait analysis in disease diagnosis and performance evaluation.