A Joint Coordinate System for the Clinical Description of Three-Dimensional Motions: Application to the Knee

1983 ◽  
Vol 105 (2) ◽  
pp. 136-144 ◽  
Author(s):  
E. S. Grood ◽  
W. J. Suntay
Keyword(s):  
Coordinate System ◽  
Translational Motion ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
Three Dimensions ◽  
Joint Motion ◽  
Large Joint ◽  
Knee Joint Motion ◽  
Clinical Description ◽  
Joint Coordinate System

The experimental study of joint kinematics in three dimensions requires the description and measurement of six motion components. An important aspect of any method of description is the ease with which it is communicated to those who use the data. This paper presents a joint coordinate system that provides a simple geometric description of the three-dimensional rotational and translational motion between two rigid bodies. The coordinate system is applied to the knee and related to the commonly used clinical terms for knee joint motion. A convenient characteristic of the coordinate system shared by spatial linkages is that large joint displacements are independent of the order in which the component translations and rotations occur.

scholarly journals On Representations for Joint Moments Using a Joint Coordinate System

2013 ◽  
Vol 135 (11) ◽  
Author(s):  
Oliver M. O'Reilly ◽  
Mark P. Sena ◽  
Brian T. Feeley ◽  
Jeffrey C. Lotz
Keyword(s):  
Knee Joint ◽  
Coordinate System ◽  
Three Dimensional ◽  
Human Knee ◽  
Human Knee Joint ◽  
Six Dof ◽  
Clinical Description ◽  
Definition Of ◽  
Nonorthogonal Projections ◽  
Joint Coordinate System

In studies of the biomechanics of joints, the representation of moments using the joint coordinate system has been discussed by several authors. The primary purpose of this technical brief is to emphasize that there are two distinct, albeit related, representations for moment vectors using the joint coordinate system. These distinct representations are illuminated by exploring connections between the Euler and dual Euler bases, the “nonorthogonal projections” presented in a recent paper by Desroches et al. (2010, “Expression of Joint Moment in the Joint Coordinate System,” ASME J. Biomech. Eng., 132(11), p. 11450) and seminal works by Grood and Suntay (Grood and Suntay, 1983, “A Joint Coordinate System for the Clinical Description of Three-Dimensional Motions: Application to the Knee,” ASME J. Biomech. Eng., 105(2), pp. 136–144) and Fujie et al. (1996, “Forces and Moment in Six-DOF at the Human Knee Joint: Mathematical Description for Control,” Journal of Biomechanics, 29(12), pp. 1577–1585) on the knee joint. It is also shown how the representation using the dual Euler basis leads to straightforward definition of joint stiffnesses.

ISB recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motion—part I: ankle, hip, and spine

2002 ◽  
Vol 35 (4) ◽  
pp. 543-548 ◽  
Author(s):  
Ge Wu ◽  
Sorin Siegler ◽  
Paul Allard ◽  
Chris Kirtley ◽  
Alberto Leardini ◽  
...  
Keyword(s):  
Coordinate System ◽  
Joint Motion ◽  
Joint Coordinate System ◽  
Human Joint

The Qualitative Synthesis of Parallel Manipulators

2004 ◽  
Vol 126 (4) ◽  
pp. 617-624 ◽  
Author(s):  
Jorge Angeles
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Qualitative Reasoning ◽  
Rigid Bodies ◽  
Three Dimensions ◽  
Qualitative Synthesis ◽  
Motion Representation ◽  
Six Degrees Of Freedom ◽  
Three Degrees Of Freedom

As shown in this paper, when designing parallel manipulators for tasks involving less than six degrees of freedom, the topology can be laid out by resorting to qualitative reasoning. More specifically, the paper focuses on cases whereby the manipulation tasks pertain to displacements with the algebraic structure of a group. Besides the well-known planar and spherical displacements, this is the case of displacements involving: rotation about a given axis and translation in the direction of the same axis (cylindrical subgroup); translation in two and three dimensions (two- and three-dimensional translation subgroups); three independent translations and rotation about an axis of fixed direction, what is known as the Scho¨nflies subgroup; and similar to the Scho¨nflies subgroup, but with the rotation and the translation in the direction of the axis of rotation replaced by a screw displacement. For completeness, the fundamental concepts of motion representation and groups of displacements, as pertaining to rigid bodies, are first recalled. Finally, the concept of Π-joint, introduced elsewhere, is generalized to two and three degrees of freedom, thereby ending up with the Π2-and the Π3-joints, respectively.

Flight performance and visual control of flight of the free-flying housefly ( Musca domestica L.) I. Organization of the flight motor

1986 ◽  
Vol 312 (1158) ◽  
pp. 527-551 ◽  
Keyword(s):  
Coordinate System ◽  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
The Body ◽  
Midsagittal Plane ◽  
Torque Vector ◽  
Translation Velocity ◽  
Flight Motor

Free-flying houseflies have been filmed simultaneously from two sides. The orientation of the flies’ body axes in three-dimensional space can be seen on the films. A method is presented for the reconstruction of the flies’ movements in a fly-centred coordinate system, relative to an external coordinate system and relative to the airstream. The flies are regarded as three-dimensionally rigid bodies. They move with respect to the six degrees of freedom they thus possess. The analysis of the organization of the flight motor from the kinematic data leads to the following conclusions: the sideways movements can, at least qualitatively, be explained by taking into account the sideways forces resulting from rolling the body about the long axis and the influence of inertia. Thus, the force vector generated by the flight motor is most probably located in the fly’s midsagittal plane. The direction of this vector can be varied by the fly in a restricted range only. In contrast, the direction of the torque vector can be freely adjusted by the fly. No coupling between the motor force and the torques is indicated. Changes of flight direction may be explained by changes in the orientation of the body axes: straight flight at an angle of sideslip differing from zero is due to rolling. Sideways motion during the banked turns as well as the decrease of translation velocity observed in curves are a consequence of the inertial forces and rolling. The results are discussed with reference to studies about the aerodynamic performance of insects and the constraints for aerial pursuit.

Definition of Three-Dimensional Motion Parameters for the Analysis of Knee Joint Motion

1994 ◽  
pp. 383-391
Author(s):  
Kazuhiro Terajima ◽  
Shoujiro Terashima ◽  
Toshiaki Hara ◽  
Yoshinori Ishii ◽  
Yoshio Koga
Keyword(s):  
Knee Joint ◽  
Three Dimensional ◽  
Joint Motion ◽  
Knee Joint Motion ◽  
Motion Parameters ◽  
Definition Of

Application of the Joint Coordinate System to Three-Dimensional Joint Attitude and Movement Representation: A Standardization Proposal

1993 ◽  
Vol 115 (4A) ◽  
pp. 344-349 ◽  
Author(s):  
G. K. Cole ◽  
B. M. Nigg ◽  
J. L. Ronsky ◽  
M. R. Yeadon
Keyword(s):  
Coordinate System ◽  
Three Dimensional ◽  
Axial Rotation ◽  
Distal Segment ◽  
The Body ◽  
Proximal Segment ◽  
Practical Applications ◽  
Flexion Extension ◽  
Joint Coordinate System ◽  
Selection Of

The selection of an appropriate and/or standardized method for representing 3-D joint attitude and motion is a topic of popular debate in the field of biomechanics. The joint coordinate system (JCS) is one method that has seen considerable use in the literature. The JCS consists of an axis fixed in the proximal segment, an axis fixed in the distal segment, and a “floating” axis. There has not been general agreement in the literature on how to select the body fixed axes of the JCS. The purpose of this paper is to propose a single definition of the body fixed axes of the JCS. The two most commonly used sets of body fixed axes are compared and the differences between them quantified. These differences are shown to be relevant in terms of practical applications of the JCS. Argumentation is provided to support a proposal for a standardized selection of body fixed axes of the JCS consisting of the axis eˆ1 embedded in the proximal segment and chosen to represent flexion-extension, the “floating” axis eˆ2 chosen to represent ad-abduction, and the axis eˆ3 embedded in the distal segment and chosen to represent axial rotation of that segment. The algorithms for the JCS are then documented using generalized terminology.

Self-Collision Detection in Spatial Closed Chains

2008 ◽  
Vol 130 (9) ◽  
Author(s):  
John S. Ketchel ◽  
Pierre M. Larochelle
Keyword(s):  
Motion Planning ◽  
Finite Length ◽  
Collision Detection ◽  
Three Dimensional ◽  
Detection Algorithm ◽  
Rigid Bodies ◽  
Three Dimensions ◽  
Circular Cylinders ◽  
Infinite Length ◽  
Kinematic Chains

A novel methodology for detecting self-collisions in spatial closed kinematic chains is presented. In general these chains generate complex three dimensional motions in which their own links will collide with each other (i.e., a self-collision) without effective motion planning. The self-collision detection is accomplished via a novel algorithm for definitively detecting collisions of right circular, cylindrically shaped, rigid bodies moving in three dimensions. The algorithm uses line geometry and dual number algebra to exploit the geometry of right circular cylindrical objects to facilitate the detection of collisions. In the first stage of the algorithm, cylindrically shaped rigid bodies are modeled by infinite length right circular cylinders. Sufficient and necessary conditions are then used to determine if a pair of infinite length cylinders collide. If the actual finite length rigid bodies collide, then it is necessary that their associate infinite length cylinder models collide, and we proceed to the next stage of the algorithm where the bodies are modeled with finite length cylinders and a definitive necessary and sufficient collision detection algorithm is employed. The result is an efficient approach of detecting collisions of cylindrically shaped bodies moving in three dimensions that has applications in spatial mechanism design and motion planning. A case study examining a spatial 4C mechanism for self-collisions is included.

scholarly journals Three-dimensional dynamic motion analysis of the first carpometacarpal ligaments

2017 ◽  
Vol 25 (1) ◽  
pp. 230949901668475 ◽  
Author(s):  
Mitsuhiko Nanno ◽  
Norie Kodera ◽  
Yuji Tomori ◽  
Yusuke Hagiwara ◽  
Shinro Takai
Keyword(s):  
Coordinate System ◽  
Three Dimensional ◽  
Surface Model ◽  
Joint Motion ◽  
Posterior Oblique Ligament ◽  
Dynamic Motion ◽  
Fresh Frozen ◽  
Anterior Oblique Ligament ◽  
The Stability ◽  
Cmc Joint

Purpose: The purpose of this study was to analyze the dynamic motion of the first carpometacarpal (CMC) ligaments on a three-dimensional (3-D) surface model and to examine the changes in the ligament lengths during the motion of the first CMC joint. Methods: Six fresh-frozen cadaver wrists were used to analyze the motion of the first CMC ligaments on a 3-D coordinate system using a digitizer. Four ligaments, namely, dorsoradial ligament (DRL), posterior oblique ligament (POL), superficial anterior oblique ligament (SAOL), and deep anterior oblique ligament (dAOL), were dissected and identified. Their attachments were digitized and represented on 3-D bone images. The distances between the ligament attachments of the first metacarpal and the trapezium, which were the ligament lengths, were measured during the extension–flexion and adduction–abduction of the first CMC joint. Results: Both the DRL and POL lengthened during flexion of the first CMC joint, and both the SAOL and dAOL lengthened during extension. Both the DRL and SAOL lengthened during adduction, and both the POL and dAOL lengthened during abduction. The DRL alone lengthened significantly at flexion and adduction when the first CMC joint was in dorsoradial dislocation. Conclusions: The lengths of four ligaments changed significantly during first CMC joint motion. This study suggested that the DRL contributes substantial stability to the first CMC joint, preventing dorsoradial dislocation. This 3-D information improves the knowledge and understanding of the function of individual ligaments and their roles in the stability of the first CMC joint.

An Impact Dynamics Modeling Method with Tangential Impulse in Three-Dimensional Space

2015 ◽  
Vol 744-746 ◽  
pp. 1618-1623
Author(s):  
Gang Chen ◽  
Ji Liang ◽  
Qing Xuan Jia ◽  
Han Xu Sun
Keyword(s):  
Impact Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
Three Dimensions ◽  
Dynamics Modeling ◽  
Independent Variable ◽  
Multi Body ◽  
The Impact ◽  
Three Dimensional Space

This paper studies the impact of two rigid bodies considering tangential friction in three dimensional space. It extends Stronge’s spring-based planar contact structure to three dimensions by introducing three orthogonal virtual springs. Impact analysis is carried out using normal impulse rather than time as the only independent variable, unlike previous work on tangential impulse. This makes the algorithm more compact. At last, collision is governed by a system of differential equations. Modularity of the impact model makes it easy to be integrated into a multi-body system.

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