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Screw theory and its applications to joint motion analysis
Abstracts of the Fourth Meeting of the European Society of Biomechanics
531
The results consisted of floor reaction forces; moments, forces and deflections at the ends of the structure’s members. These were compared to data of foot-ground pressure distributions (FGP) and deflections measured on radiographs of standing subjects.
A KINEMATICAL
STUDY OF THE HUMAN
WRIST JOINT
IN VITRO
A. DE LANGE, M. SCHREIBERS,R. HUISKES, J. M. G. KAUER and H. WOLTRING (Musculoskeletal Research Section, Department of Anatomy, and Biomechanics Section, Laboratory for Experimental Orthopaedics, University of Nijmegen, The Netherlands) For providing more insight into the carpal bone behaviour, useful in clinical diagnosis and several reconstruction procedures, detailed and precise quantitative three-dimensional kinematic descriptions of the individual carpal bones in several prescribed hand motions were obtained, using a Roentgen-stereophotogrammetric method. The relative motions were assessed in terms of Euler rotation angles and translation vectors and of finite helical axes. Tests were repeated several times, in order to investigate the reproducibility, influence of muscle loading, of supinated vs pronated motion pathways and other external effects. Precision analyses revealed low errors (0.348”) in the rotation angles in contrast to those in the helical axis representations. However, after using a mathematical fitting procedure on the row marker position data, consistent axis patterns could be obtained. The obtained kinematic information may serve as a database for future developments of functional wrist-joint models.
SCREW THEORY AND ITS APPLICATIONS
TO JOINT
MOTION
ANALYSIS
STEVENPETERSONand ARTHUR ERDMAN(University of Minnesota, Minneapolis, MN, U.S.A.) The measurement of skeletal joint motion plays an important role in biomechanical analysis. Traditionally, motion analysis has concerned itself with finding the screw axis of the motion. These screw axes are used to model the joint using standard machine joints. The models produced using these techniques tend to oversimplify the true motion of the joint, and provide little information about the physiologic constraints which produce the motion. In the late 1800s kinematicians developed a theory--called screw theory-which describes the relationship between forces being applied to a rigid body and the motion they produce. This paper describes a method for calculating the displacement parameters for a rigid body using screw algebra. The influence of measurement errors on these calculations will also be presented.
‘SCREW HOME’ MECHANISM
OF THE KNEE DURING
WALKING
MARIO A. LAFORTUNEand PETER R. CAVANAGH(Universitt du Quebec a Trois-Rivikres, Quebec, Canada) Steinmann traction pins were inserted into the femur, patella and tibia of five symptom-free volunteers. Radioopaque spheres were attached to the intra-cortical pins. The location of the spheres with respect to the bone frames of reference and to an external frame of reference were obtained using the Direct Linear Transformation and either X-ray or film recordings. The motions of the knee joint were described by the following clinical motions: shift, drawer, distraction, flexion-extension, ab-adduction and rotation. Twice during the gait cycle the knee approached or reached maximal extension. Only one subject showed external rotation during the stance phase and, during the swing phase the external rotation even began when knee flexion was underway. The results of the present study generally do not support the concept of ‘screw-home’ mechanism during walking.
A THREE-DIMENSIONAL
KINEMATIC ACQUISITION AND INTERSEGMENTAL ANALYSIS SYSTEM FOR HUMAN MOTION
DYNAMIC
E. K. ANTONSSONand R. W. MANN (Massachusetts Institute of Technology, Cambridge, MA, U.S.A.) A new system for automatic accumulation and reduction of three-dimensional, human kinematic data has been designed and implemented. Three-dimensional linkage analysis methods are introduced to describe completely the positions and orientations, and estimate the total moments and net forces between links, including a momentary axis of rotation solution to objectively locate joint axes. Kinematic data acquisition is accomplished by a Selspot infra-red, opto-electronic device with thirty LED markers sampled by two cameras. Sets of markers are grouped in segment oriented, rigid arrays each with an imbedded body coordinate system. The calibration and frequency response are completely characterized, as well as worst case estimates of error bounds in the kinematics and dynamics. The double differentiated kinematic data yields no more than 5% error in the dynamics.
531
The results consisted of floor reaction forces; moments, forces and deflections at the ends of the structure’s members. These were compared to data of foot-ground pressure distributions (FGP) and deflections measured on radiographs of standing subjects.
A KINEMATICAL
STUDY OF THE HUMAN
WRIST JOINT
IN VITRO
A. DE LANGE, M. SCHREIBERS,R. HUISKES, J. M. G. KAUER and H. WOLTRING (Musculoskeletal Research Section, Department of Anatomy, and Biomechanics Section, Laboratory for Experimental Orthopaedics, University of Nijmegen, The Netherlands) For providing more insight into the carpal bone behaviour, useful in clinical diagnosis and several reconstruction procedures, detailed and precise quantitative three-dimensional kinematic descriptions of the individual carpal bones in several prescribed hand motions were obtained, using a Roentgen-stereophotogrammetric method. The relative motions were assessed in terms of Euler rotation angles and translation vectors and of finite helical axes. Tests were repeated several times, in order to investigate the reproducibility, influence of muscle loading, of supinated vs pronated motion pathways and other external effects. Precision analyses revealed low errors (0.348”) in the rotation angles in contrast to those in the helical axis representations. However, after using a mathematical fitting procedure on the row marker position data, consistent axis patterns could be obtained. The obtained kinematic information may serve as a database for future developments of functional wrist-joint models.
SCREW THEORY AND ITS APPLICATIONS
TO JOINT
MOTION
ANALYSIS
STEVENPETERSONand ARTHUR ERDMAN(University of Minnesota, Minneapolis, MN, U.S.A.) The measurement of skeletal joint motion plays an important role in biomechanical analysis. Traditionally, motion analysis has concerned itself with finding the screw axis of the motion. These screw axes are used to model the joint using standard machine joints. The models produced using these techniques tend to oversimplify the true motion of the joint, and provide little information about the physiologic constraints which produce the motion. In the late 1800s kinematicians developed a theory--called screw theory-which describes the relationship between forces being applied to a rigid body and the motion they produce. This paper describes a method for calculating the displacement parameters for a rigid body using screw algebra. The influence of measurement errors on these calculations will also be presented.
‘SCREW HOME’ MECHANISM
OF THE KNEE DURING
WALKING
MARIO A. LAFORTUNEand PETER R. CAVANAGH(Universitt du Quebec a Trois-Rivikres, Quebec, Canada) Steinmann traction pins were inserted into the femur, patella and tibia of five symptom-free volunteers. Radioopaque spheres were attached to the intra-cortical pins. The location of the spheres with respect to the bone frames of reference and to an external frame of reference were obtained using the Direct Linear Transformation and either X-ray or film recordings. The motions of the knee joint were described by the following clinical motions: shift, drawer, distraction, flexion-extension, ab-adduction and rotation. Twice during the gait cycle the knee approached or reached maximal extension. Only one subject showed external rotation during the stance phase and, during the swing phase the external rotation even began when knee flexion was underway. The results of the present study generally do not support the concept of ‘screw-home’ mechanism during walking.
A THREE-DIMENSIONAL
KINEMATIC ACQUISITION AND INTERSEGMENTAL ANALYSIS SYSTEM FOR HUMAN MOTION
DYNAMIC
E. K. ANTONSSONand R. W. MANN (Massachusetts Institute of Technology, Cambridge, MA, U.S.A.) A new system for automatic accumulation and reduction of three-dimensional, human kinematic data has been designed and implemented. Three-dimensional linkage analysis methods are introduced to describe completely the positions and orientations, and estimate the total moments and net forces between links, including a momentary axis of rotation solution to objectively locate joint axes. Kinematic data acquisition is accomplished by a Selspot infra-red, opto-electronic device with thirty LED markers sampled by two cameras. Sets of markers are grouped in segment oriented, rigid arrays each with an imbedded body coordinate system. The calibration and frequency response are completely characterized, as well as worst case estimates of error bounds in the kinematics and dynamics. The double differentiated kinematic data yields no more than 5% error in the dynamics.