Beruflich Dokumente
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Angular Kinematics
Angular Kinematics
Hamill & Knutzen (Ch 9)
Hay (Ch. 4), Hay & Ried (Ch. 10), Kreighbaum
& Barthels (Module ) or Hall (Ch. 11)
Reporting Angles
+ve = anticlockwise
-ve = clockwise
+250o
-110o
Measurement of Angles
Degrees
(arbitrary units)
Radians
(fundamental ratio)
Revolutions
General Motion
Radians
Ratio of arc/radius
r
57.3o
Circumference = 2r
therefore there are 2 radians in 360o
Types of Angles
Relative Angles
An absolute angle is
measured from an
external frame of
reference.
A relative angle is the
angle formed
between two limb
segments.
or
presented as the angle
formed at the articulation
(opposite)
Axis of Rotation
Which are degrees of
flexion and which are
angle at joint?
Axis of Rotation
longitudinal axis (axis that extends within
and parallel to a long bone or body segment)
Description of Motion
Kicking the leg (leg moves anticlockwise [shown] in the
sagittal plane about a frontal axis)
Turning the head (the head moves around a vertical
axis in the horizontal plane)
Data Acquisition
If you really only need data for angular
motion about a joint (pangle, angular
velocity and angular acceleration) you do
not need to collect data via an optoelectrical device.
Electro-goniometers and other device are
more portable.
Goniometers
Simple goniometers like
the Leighton flexometer
are really only useful for
range of motion and
static analysis.
Electro-goniometers are
easy to use and can
follow changes in
posture in dynamic
situations (velocity &
acceleration)
Gait Analysis
First we need
coordinate data
for joint centres
Describing Angles
An absolute angle is
measured from an
external frame of
reference.
(XH,YH)
(XK,YK)
Marker locations:
greater trochanter
femoral condyle
tibial condyle
lateral malleolus
heel
head of 5th metatarsal
toe
(XA,YA)
(Xheel, Yheel)
(XT,YT)
21
5
4
5
43
7
6
65
6
76
7
21
3
+ve for flexion,
"
#1
21
= tan
Knee angle = k = 21 - 43
$y #y '
2)
& 1
& # )
% x1 x 2 (
!
if k is positive
the knee is flexed
if k is negative the knee is extended
(dislocated?)
Lets step
though the
calculation of
the angle thigh
Tangent Function
Angular Velocity =
$
#
i+1 # i$1
=
"i
2%t
Angular Acceleration =
change in angular velocity
change in time
"i
#
=
i+1
$ # i$1
2%t
!
8
Question
Hip
Support Phase
Knee
Swing Phase
Support Phase
Swing Phase
Ankle
Graphic
representations
of the thigh's
absolute angle
(A), angular
velocity (B), and
angular
acceleration (C)
as a function of
time for the
support phase of
walking
No need to study this slide.
Rearfoot Angle
Rearfoot angle = RF
RF = leg - calcaneus
Positive angle for
supination
Negative angle for
pronation
Medial
leg
calcaneus
10
Foot strike
Toe-off
Angle-Angle Diagrams
Angle (degrees)
15
Rearfoot
Angle
Inversion
10 (supination)
5
0
-5
-10 Eversion
(pronation)
-15
RF = leg - calcaneus
50
100
Percent of Support
Phase
Knee (degrees)
Toe-off
Knee (degrees)
Footstrike
30
60
90
Running speed
= 3.6 m/s
120
-50
Williams, 1985
-10
30
Thigh (degrees)
70
Footstrike
Toe-off
30
60
90
Running speed
= 3.6 m/s
120
20
Williams, 1985
60
100
140
Ankle (degrees)
11
150
140
6 minute
mile pace
130
-50
-10
30
70
Pronation (degrees)
Magnitude of GRF
Walking = 1 to 1.2 x Body Weight
Running = 3 to 5 x Body Weight (Hamill &
Knutzen 1995)
As an example of this force magnitude, the
patellofemoral joint force during squats can be
up to 7.6 times Body Weight at (Reilly & Matens
1972)
Hamill & Knutzen text on reserve has 7 graphs of
GRFs during different types of human
movement (pages 400-401)
170
(supination)
10
Varus
0
-10
Neutral
Eversion
-20
(pronation)
0
10
Valgus
20
30
40
12
13
1500
Run
Walk
Force (N)
1000
BW
500
Heel Striker
Mid-foot striker
0
0
0.0
0.1
0.2
0.3
0.4
Time (seconds)
0.5
0.6
0.7
20
40
60
80
100
Percent of Support
Links of Interest
The issue of what is a natural foot strike pattern
is a relatively hot topic these days, resulting in a
resurgence of interest in barefoot running.
http://www.barefootrunning.fas.harvard.edu/
4BiomechanicsofFootStrike.html
http://isiria.wordpress.com/2009/04/24/the-greatmarketing-lie-expensive-runners-will-prevent-injury/
http://www.nytimes.com/2009/10/27/health/27well.html?
_r=2
http://www.vibramfivefingers.com/
http://www.posetech.com/
14
Awkward
Wrist
Postures
Ulna
Deviation
Radial and ulna
deviation are both
problematic
Neutral
wrist angle
15
Wrist Angle
16
Desired
Poor
17
Shoulder Postures
Angles
should be
below 45o
18
= s/r
s = r
(L => L x unitless ratio)
Additional Relationships
vt = r
(LT-1 = L x T-1)
at = r
(LT-2 = L x T-2)
19
vt = r
Radial Acceleration
What is radial acceleration?
If velocity is a vector then even at a
constant angular velocity (and hence
constant linear speed) the linear velocity
is changing as its directional component is
changing. If velocity is changing then
there must be acceleration.
ar = vt2/r
Figure 9-27
Resultant linear acceleration vector
(aR) comprised of the centripetal
and tangential acceleration
components
or
r2
Right Hand
Thumb Rule
The fingers of the
right hand point in
the direction of the
rotation, and the
right thumb points in
the direction of the
angular velocity
vector.
20