EE4385, Lecture Notes, Fall 05

COM Example Using the data in Table 3.1, calculate the x and y coordinates of the COM for the: Foot: lateral malleolus = (84.9, 11.0) and metatarsal = (101.1, 1.3) Thigh: greater trochanter = (72.1, 92.8) and lateral femoral condyle = (86.4, 54.9) Calculate in relation to the proximal end of the segment. For the thigh: x = 72.1 + (86.4 72.1) 0.433 = 78.3 cm where 0.433 is the COM/Segment Length to Proximal from Table 3.1
and 72.1 is the x location for the proximal end of the segment. Thus, as the distal end x location is greater than the proximal, we add a distance to the COM. y = 92.8 0.433(92.8 54.9) cm and 92.8 is the x location for the proximal end of the segment. Thus, as the distal end x location is less than the proximal, we subtract a distance to the COM.

For the foot: As the distance of the COM is the same from either proximal or distal end, we can just add the two distances together, and divide by two (or multiply by 0.5).

x = (84.9 + 101.1) 0.5 = 93.0 cm where 0.5 is the COM/Segment Length to Proximal from Table 3.1 y = (11 + 1.3) 0.5 = 6.15 cm

Mass Moment of Inertia Example A prosthetic leg has a mass of 3 kg and a COM of 20 cm from the knee joint. The radius of gyration is 14.1 cm. Calculate I about the knee joint.
2 I o = mo = 3(0.141) 2 = 0.06 kg m 2

I = I o + mx 2 = 0.06 + 3(0.2) 2 = 0.18 kg m 2

If the distance between the knee and hip joints is 42 cm, calculate I h for this prosthesis about the hip joint as the amputee swings through with a locked knee.

x = distance from mass center to hip, =20+42=62 cm I = I o + mx 2 = 0.06 + 3(0.2)2 = 1.21 kg m 2 Note that I h is about 20 times that calculated about the center of mass. ** The above equation should be: I=0.06+3(0.62)2=1.21 kg.m2 Correct that please. Link-Segment Model Example 1 In a static situation, a person is standing on one foot, on a force plate. The ground reaction force is found to act 4 cm anterior to the ankle joint. Note that convention has the ground reaction force Ry1 always acting upwards. We also show that the horizontal reaction force Rx1 to be acting in the positive direction (to the right). (If this force actually acts to the left, it will be recorded as a negative number.) The subjects mass is 60 kg and the mass of the foot is 0.9 kg. Calculate the joint reaction forces and net muscle moment of the ankle.

Ry 2 Rx 2 M
2

Foot COM

6 cm

Rx 1
4 cm

0.9 g

Ry1

1. Fx = max
As this is a static situation, ax is zero, and this is therefore a redundant calculation. Rx 2 + Rx1 = max = 0

2. Fy = ma y
First note that the ground reaction force Ry1 must be equal and opposite to that of the body mass multiplied by g . Ry1 = 60 9.8 = 588 N

Ry 2 + Ry1 mg = ma y = 0 Ry 2 + 588 0.9 9.8 = 0 Ry 2 = 579.2 N

The negative sign means that the force acting on the foot at the ankle joint acts downward. This is not surprising as the entire body weight, less that of the foot, must be acting downward on the ankle joint.

3. M I = I o
M 2 Ry1 0.02 Ry 2 0.06 = 0
where 0.02 cm is the horizontal distance between Ry1 and the COM, and 0.06 cm is the horizontal distance between Ry 2 and the COM.

Thus, solving for M 2 gives:

M 2 = 22.99 Nm
The negative sign means that the real direction of the muscle moment acting on the foot at the ankle joint is clockwise, which means that the plantarflexors are active at the ankle joint to maintain the static position. These muscles have created an action force that resulted in the ground reaction force that was measured, and who center of pressure was 4 cm anterior to the ankle joint. Example 2 From the data collected during the swing of the foot, calculate the muscle moment and reaction forces at the ankle. The subjects mass was 80 kg and the ankle-metatarsal length (foot) was 20.0 cm. From Table 3.1 the inertial characteristics of the foot are calculated:

m = 0.0145 80 = 1.16 kg where 0.0145 is the Segment Weight/Total Body Weight value from Table 3.1.

o = 0.475 0.20 = 0.095 m

where 0.475 represents the Radius of Gyration/Segment Length relative to the C of G (Center of Gravity, synonymous to the COM but generally a term only used when describing a segment rather than a total body mass). We can then calculate: I o = 1.16(0.095) 2 = 0.0105 kg m 2 and we are given = 21.69 rad/s 2

Ry1 Rx 1 M
9.85 cm
1

6.62 m/s

9.07 m/s
9.85 cm

1.16 g
1.95 cm

21.69 rad/s

1. Fx = max
From the diagram, we see that ax = 9.07 m/s 2 . Rx1 = max

Rx1 = 1.16 9.07 = 10.52 N

2. Fy = ma y
From the diagram, we see that a y = 6.62 m/s 2 .

Ry1 mg = ma y Ry1 1.16 9.8 = 1.16(6.62) Ry1 = 3.69 N

3. M I = I o
M 1 Rx1 0.0985 Ry1 0.0195 = 0.0105 21.69 M 1 = 1.34 Nm

Just for info (not required to know): 1. The horizontal reaction force of 10.52 N at the ankle is the cause of the horizontal acceleration that we calculated for the foot. 2. The foot is decelerating its upward rise at the end of lift-off. Thus the vertical reaction force at the ankle is somewhat less than the static gravitational force. 3. The ankle muscle moment is positive, indicating net dorsiflexor activity, and most of this moment is required to cause the horizontal acceleration of the

foots COG, with very little needed to angularly accelerate the low moment of inertia of the foot.