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Document Sample
2010/7/17
Human Movement
Fong-Chin Su 蘇芳慶
國立成功大學醫學工程研究所
Institute of Biomedical Engineering
National Cheng Kung University
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XBOX Motion - Natal
Sony PS3 Motion
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History of Gait Analysis
before the advent of modern computers
Aristotle (384-322 BCE)
the earliest recorded comments regarding the
manner in which humans walk.
Giovanni Borelli (1608-1679)
History of Gait Analysis
before the advent of modern computers
Aristotle (384-322 BCE)
the earliest recorded comments regarding the
manner in which humans walk.
Jules Etienne Marey (1830-1904)
Eadweard Muybridge (1830-1904)
made significant advances in measurement
technology.
gy
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Eadweard Muybridge
"Attitudes of
Animals in Motion"
(1881)Animated b
( 88 ) i d by
Charl Lucasson
Animal Locomotion
(1887)
The Human Figure in
Motion" (1901)
Gave rise to the
invention of cinema
Eadweard Muybridge
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History of Gait Analysis
before the advent of modern computers
Verne Inman (1905-1980) and
Howard Eberhart (1906-1993)
made major advances in America shortly
after the Second War.
David Sutherland (1923-2006) and
Jacquelin Perry
pioneered clinical applications in America.
p pp
History of Gait Analysis
before the advent of modern computers
Braune & Fischer (1895): classic
scientific study of human gait: body & joint
f l l
forces calculatedd
Bernstein (1935): studies in Russia
Elftmann (1938): mechanical force
platforms
y( )
Murray (1964): Walking p g patterns of
normal men
Paul (1966): Hip joint forces in normal
walking
Winter (1978): TV system, Joint powers
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Exoskeletal goniometer
examination of lower limb motions
Larry W. Lamoreux 1936
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Films in the open air
Charles Ducroquet
Glass Cage
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Motion capture (motion
tracking)
To describe the process of recording
movement and translating that
t t di it l
movement onto a digital model.d l
It is used in military, entertainment,
sports, and medical applications.
Why Computerized Motion
Analysis
Eye is too slow (flicker-fusion rate
about 12 Hz)
Motion leaves no record
To analyze internal forces and
moments
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Motion capture allows
place an actor in a scene that may be
impractical, or too dangerous to do in
l lif
real life.
do scenes that would normally be
prohibitively expensive.
do the impossible.
Requirements of a motion capture
system
Fast and easy setup for the actors and
quick calibration.
Allow the actor unrestricted movement.
Detailed motion as well as gross body
motion.
Accurate.
Quick turnaround from the time of
motion capture to the finished data set
being ready to animate on a skeleton
system.
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Measurement Systems
Electromechanical Linkage
Methods
Stereometric Methods
Magnetic Tracking
Imaging Techniques
Accelerometic methods
History of Motion Capture
1980-1983: Simon Fraser University —
Goniometers
1982-1983: MIT — Graphical
Marionette
Op-Eye and SelSpot systems
Optical trackers typically use small markers
y g
attached to the body—either flashing LEDs or
small reflecting dots—and a series of two or
more cameras focused on the performance
space.
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Triaxial Electrogoniometers
Triaxial Electrogoniometer
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Goniometer
Advantages
The most convenient
Least expensive
Immediate availability of the data
Disadvantages
Accuracy
Cross talk
Not a useful instrument at the hip
Magnetic Tracking
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Accelerometer
Camera
Film Photography
A t t d Vid
Automated Video
passive markers - reflective marker
active markers - light emitting diodes
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Film Photography
A rotating prism camera
supply roll
Lens
li ht path
light th
rotating
take-up roll
prism block
Film Photograph
Interrupted light
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Film Photograph
Sequenced photograph
1895 Marey; modified from Muybridge)
Film Photography
Transfer the data from film to
computer
p
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Active Marker Systems
Motion Analysis Corp. Vicon
Active Marker System
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Optotrak
Applications
Biomechanics
Physical rehabilitation
Sports analysis and coaching
Virtual reality
Dynamic feedback control
3D navigation
Comp ter animation
Computer
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ANIMATION PRODUCTION
MOVEMENT ANALYSIS
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Industrial Applications
Ford - training, process simulation
and ergonomic compliance in
vehicular assembly
Bell Helicopter Builds Immersive
Engineering Center
Design Evaluations Use Motion Analysis
Lockheed's Human Immersive Lab
Corp. Tools (HIL) in Fort Worth - full-scale
validation is conducted using virtual
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GAIT
Motion Analysis System
Define the person’s gait
Delineate their magnitude, timing and
phasic relationships
Correlate the patients performance
with normal phasic function
Primary deficits can be differentiated
from substitutive actions
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Goals of the motion analysis
To describe the difference between a
patient’s performance and a
nondisabled subject’s performance
To classify the severity of a disability
To determine the efficiency of
intervention
To enhance performance
Goals of the motion analysis
To identify the mechanisms causing
the gait dysfunction
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KINEMATICS - MOTION
Kinematics is the study of body motion
without reference to the forces causing this
motion.
Analytic Description
Eulerian angle system
Describe gross movement (three-dimensional joint
rotation) of the limb segments interconnected by
joints.
Matches the clinically definition of joint movement.
Screw-displacement axis
S di l t i
Detailed analysis of joint articulating surface
motion, where generalized three-dimensional
rotation and translation are described.
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KINETICS - FORCE AND
MOMENT
the study of the forces causing or resulting
from motion
LOAD <--- > DISPLACEMENT
FORCE <--- > TRANSLATION
MOMENT <--- > ROTATION
bending moment
Torque
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Joint Moment
Kinetics
Joint Moment (M)
Agonists: Same “polarity” as the moment
Anagonists: Reverse polarity
Joint Power (M ·
Concentric Contraction: Positive
Eccentric Contraction: Negative
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Applications of Motion
Analysis
Basic and clinically applicable applied
value in medicine and biology.
Evaluate functional performance of
limbs under normal and abnormal
conditions.
Essential for proper diagnosis and
surgical treatment of joint disease.
Design of prosthetic devices to restore
function.
Automated Motion System
5
4
6
force plates
walk way 1
3
2 camera 1~6
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Automated Motion System
Marker System
Cleveland (25) Helen Hayes (21)
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Motion Data Acquisition
using six cameras to collect
the markers’ motion
collecting the loading
tracking markers’ motion
on force plates
using motion data of markers and force
plates data to compute kinematic
and kinetic data
Motion Data Acquisition
Band Pass Filter
Raw EMG (40 - 400 Hz)
Integrator Full Wave
(EMG LE) Rectifier
Normalized by Ensemble
%Peak & % GC Average
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Eulerian Angle System
Euler Angle
r11 r12 r13
eP(after) r21 r22 r23
ft eD(b f )
before
r31 r32 r33
sss cc css sc sc
sc cc s eD
ssc cs csc ss
cc
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Euler Angle
2 2
A tan 2 ( 23 , ) (Add/Adb)
13 33
A tan2( 13 / C , 33 / C ) (Fle/Ext)
A tan2( 21 / C , 23 / C ) (Axial Rotation)
Screw displacement Axis
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Joint Angles
Knee Hip
INT l R t ti
INTernal Rotation
Flexion ABDuction
Degrees
Flexion
0 0
Extension Extension
ADDuction
EXTernal Rotation
Ankle Pelvis
Forward Rotation
Dorsiflexion Hike
Anterior Tilt
0 0
Posterior Tilt
Plantar Flextion Drop
Backward rotation
Joint Angles
Subtalar Trunk
Forward Rotation
Inversion Right Lean
Degrees
Flextion
0 0
Extension
Eversion Left Lean
Backward Rotation
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Motion Data Interpretation
Joint Angle
Group I Group II Group III Group IV Normal
Winters TF, et al: 1987
Motion Data interpretation
Moment
Hip
Knee
Ankle
Data from
Kadaba et
al. 1989
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Motion Data Interpretation
EMG
Data from University of
Waterloo
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Assistive
Devices
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Assistive Devices
W lki
Canes or Walking
C
Sticks
Crutches
W lk
Walkers
Gait in Children
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Aging
&
Gait
AGING
Gait and age-related
changes
Falls in the elderly
Gait and falls
walking stairs
g
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Gait in
Musculoskeletal
M l k l t l
Abnormalities
Prosthetics
and
Orthotics
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Training in
Clinical P ti
Cli i l Practice
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