A three-dimensional kinematic and dynamic model of the lower limb

Apkarian, Jacob; Naumann, Stephen; Cairns, Bonnie

Affiliations

¹Institute of Biomedical Engineering, University of Toronto

²The Rehabilitation Engineering Department, Hugh MacMillan Medical Centre, Toronto, Ontario, Canada

Abstract

A model describing the kinematics and dynamics of the lower limb is presented. The lower limb is modeled as a sequence of four rigid links connected by three universal rotary joints representing the hip, knee and ankle joints. Each joint is modeled as a sequence of three single axis rotational joints thus ascribing to the lower limb a total of 12 degrees of freedom. A method is described to measure the gait variables so that all nine angles can be computed based on the positions of nine markers placed on the subject during a gait study. The gait variables are then used in an iterative Newton-Euler formulation to compute the moments exerted about the axes of each joint during gait.

Links

DOI: 10.1016/0021-9290(89)90037-7

PubMed: A1989U005300007

WoS: A1989U005300007

History

Revised: 1987-10

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Cited By (18)

Year	Entry
1999	Vaughan CL, Davis BL, O'Connor JC. Dynamics of Human Gait. 2nd ed. Cape Town, South Africa: Kiboho Publishers; 1999.
1991	Winter DA. The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological. 2nd ed. Waterloo, ON: University of Waterloo Press; 1991.
1996	Kidder SM, Abuzzahab FS Jr, Harris GF, Johnson JE. A system for the analysis of foot and ankle kinematics during gait. IEEE Trans Rehabil Eng. March 1996;4(1):25-32.
2009	Untaroiu CD, Meissner MU, Crandall JR, Takahashi Y, Okamoto M, Ito O. Crash reconstruction of pedestrian accidents using optimization techniques. Int J Impact Eng. February 2009;36(2):210-219.
1991	Scott SH, Winter DA. Talocrural and talocalcaneal joint kinematics and kinetics during the stance phase of walking. J Biomech. 1991;24(8):743-752.
1992	Lafortune MA, Cavanagh PR, Sommer HJ III, Kalenak A. Three-dimensional kinematics of the human knee during walking. J Biomech. April 1992;25(4):347-357.
1993	MacKinnon CD, Winter DA. Control of whole body balance in the frontal plane during human walking. J Biomech. June 1993;26(6):633-644.
1995	Eng JJ, Winter DA. Kinetic analysis of the lower limbs during walking: what information can be gained from a three-dimensional model? J Biomech. June 1995;28(6):753-758.
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.
1999	Bull AMJ. Measurement and Computer Simulation of Knee Kinematics [PhD thesis]. Imperial College London; 1999.
1990	Buczek FL Jr. Three-Dimensional Kinematics and Kinetics of the Ankle and Knee Joints During Uphill, Level, and Downhill Walking [PhD thesis]. State College, PA: Pennsylvania State University; May 1990.
1992	Li J. An Integrated Gait Analysis System (QGAIT) for Evaluation of Individual Loading Patterns At Knee Joint During Gait [PhD thesis]. Queen's University; November 1992.
1997	Costigan PA. Gait and Lower Limb Alignment in Patellofemoral Joint Pain Syndrome [PhD thesis]. Queen's University; November 1997.
2016	Chehab EF. Understanding the Pathogenesis of Age-Related Knee Osteoarthritis [PhD thesis]. Stanford University; November 2016.
2009	Raison M. On the Quantification of Joint and Muscle Efforts in the Human Body During Motion [PhD thesis]. Université catholique de Louvain; June 23, 2009.
2001	Otto JK. Mobility and Contact Mechanics of Rotating Platform Total Knee Replacements [PhD thesis]. University of Iowa; December 2001.
1992	Lloyd DG. Development and Application of a Gait Analysis System [PhD thesis]. University of New South Wales; October 1992.
2008	Droge JA. Characterization of the Biomechanics of the Low Back During a Frontal Automobile Impact [PhD thesis]. Charlottesville, VA: University of Virginia; December 2008.