A least-squares algorithm for the equiform transformation from spatial marker co-ordinates

Veldpaus, F. E.; Woltring, H. J.; Dortmans, J. M. G.

Affiliations

¹Faculty of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, NL 5600 MB Eindhoven, The Netherlands

²University of Nijmegen, The Netherlands

³Philips Medical Systems, Building QA-2, P.O. Box 10.000, NL 5680 DA Best, The Netherlands

Abstract

The present paper describes an algorithm for estimating the translation vector and the rotation matrix of a moving body from noisy measurements on the spatial co-ordinates of at least three non-collinear markers. A sensitivity analysis of the estimated parameters and of the helical axis is presented in terms of characteristics of the marker distribution. The implementation of the proposed algorithm in a FORTRAN-subroutine is appended.

Links

DOI: 10.1016/0021-9290(88)90190-X

PubMed: 3339026

WoS: A1988L199100008

History

Received: 1986-05

Revised: 1986-12

Cited Works (2)

Year	Entry
1980	Spoor CW, Veldpaus FE. Rigid body motion calculated from spatial co-ordinates of markers. J Biomech. 1980;13(4):391-393.
1985	Woltring HJ, Huiskes R, de Lange A, Veldpaus FE. Finite centroid and helical axis estimation from noisy landmark measurements in the study of human joint kinematics. J Biomech. 1985;18(5):379-389.

Cited By (46)

Year	Entry
2007	Siegmund GP, Davis MB, Quinn KP, Hines E, Myers BS, Ejima S, Ono K, Kamiji K, Yasuki T, Winkelstein BA. Cervical facet capsule response to whiplash loading with a rotated head posture. In: Proceedings of the 35th International Workshop on Human Subjects for Biomechanical Research. 2007.123-136.
2009	Lessley DJ, Purtsezov SV, Shaw CG, Parent DP, Riley PO, Kent R, Crandall JR. Assessment and validation of a methodology for measuring anatomical kinematics during impact loading. In: Proceedings of the 37th International Workshop on Human Subjects for Biomechanical Research. 2009.
2013	Meijer R, Broos J, Elrofai H, de Bruijn E, Forbes P, Happee R. Modelling of bracing in a multi‐body active human model. In: Proceedings of the 2013 International IRCOBI Conference on the Biomechanics of Injury. September 11-13, 2013; Gothenburg, Sweden.576-587.
1999	Winkelstein BA, Nightingale RW, Richardson WJ, Myers BS. Cervical facet joint mechanics: its application to whiplash injury. In: Proceedings of the 43rd Stapp Car Crash Conference. October 25-27, 1999; San Diego, CA. Warrendale, PA: Society of Automotive Engineers:243-252. SAE 99SC15.
2000	Siegmund G, Myers BS, Davis MB, Bohnet HF, Winkelstein BA. Human cervical motion segment flexibility and facet capsular ligament strain under combined posterior shear, extension and axial compression. Stapp Car Crash J. 2000;44:159-170. SAE 2000-01-SC12.
2000	Winkelstein B, Myers BS. Experimental and computational characterization of three-dimensional cervical spine flexibility. Stapp Car Crash J. 2000;44:139-158. SAE 2000-01-SC11.
1995	Cappozzo A, Catani F, Della Croce U, Leardini A. Position and orientation in space of bones during movement: anatomical frame definition and determination. Clin Biomech (Bristol, Avon). June 1995;10(4):171-178.
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2009	Andersen MS, Damsgaard M, Rasmussen J. Kinematic analysis of over-determinate biomechanical systems. Comput Methods Biomech Biomed Eng. August 2009;12(4):371-384.
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1999	Lu T-W, O’Connor JJ. Bone position estimation from skin marker co-ordinates using global optimisation with joint constraints. J Biomech. February 1999;32(2):129-134.
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2010	Andersen MS, Benoit DL, Damsgaard M, Ramsey DK, Rasmussen J. Do kinematic models reduce the effects of soft tissue artefacts in skin marker-based motion analysis? an in vivo study of knee kinematics. J Biomech. January 19, 2010;43(2):268-273.
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2004	Gupta S, van der Helm FCT, Sterk JC, van Keulen F, Kaptein BL. Development and experimental validation of a three-dimensional finite element model of the human scapula. Proc Inst Mech Eng Part H-J Eng Med. March 2004;218(3):127-142.
2000	Winkelstein BA, Nightingale RW, Richardson WJ, Myers BS. The cervical facet capsule and its role in whiplash injury: a biomechanical investigation. Spine. May 15, 2000;25(10):1238-1246.
2001	Siegmund GP, Myers BS, Davis MB, Bohnet HF, Winkelstein BA. Mechanical evidence of cervical facet capsule injury during whiplash: a cadaveric study using combined shear, compression, and extension loading. Spine. October 1, 2001;26(9):2095-2101.
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1990	McClay IS. A Comparison of Tibiofemoral and Patellofemoral Joint Motion in Runners With and Without Patellofemoral Pain [PhD thesis]. State College, PA: Pennsylvania State University; December 1990.
2014	De Bruijn E. Isometric and Dynamic Control of Neck Muscles: Reflexive Contributions and Muscle Synergies [PhD thesis]. Delft University of Technology; 2014.
2018	Synek A. Predicting Habitual Activities from Bone Architecture Using a Biomechanical Approach [PhD thesis]. Vienna University of Technology; 2018.
2021	Nazarahari M. Development of Novel Wearable Sensor Technology for Walking Training Toward Functional Restoration of Stroke Patients [PhD thesis]. Edmonton, AB: University of Alberta; 2021.
2004	McWalter EJ. Links Between Three-Dimensional Patellar Kinematics, Cartilage Morphology and Varus/valgus Alignment in Early Knee Osteoarthritis [Master's thesis]. Vancouver, BC: University of British Columbia; December 2004.
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2009	Gates DH. The Role of Muscle Fatigue on Movement Timing and Stability During Repetitive Tasks [PhD thesis]. University of Texas at Austin; May 2009.
1994	Gilchrist LA. A Computer Simulation of Human Gait [PhD thesis]. University of Waterloo; 1994.
2007	Reeves NP. Tuning-Out Instability: The Importance of Feedback Control in the Spine [PhD thesis]. Yale University; December 2007.