Biomechanical Modeling and Analysis of Human Motion
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Transcript of Biomechanical Modeling and Analysis of Human Motion
Biomechanical Modeling and Analysis of Human Motion
Cole, JoshuaKnapp, Austen
University of Colorado at Colorado Springs, Department of Mechanical Engineering
Advisor: Prof. Steve Tragesser
The Objective
Create a low cost, non-invasive, portable system for analysis of the internal forces and torques required for human motion
Video CaptureKodak PlaySport
Resolution: 720 X 1280Frame Rate: 60 fps
Image Processing with MATLAB• Manually input initial marker
positions• Filter all colors but green/blue
for each frame• Search based on previous
centroid location• Two colors distinguish between
markers• Output Cartesian Coordinates
Dynamic Modeling
• Modeled body as series of rigid links
• Convert video capture output to angular position
• Two methods of analysis
Point Mass Analysis
Position Data Outputted
Video Capture System
Finite Difference Method
F=ma to attain GRFx & GRFy
• Compute position, velocity, and acceleration of center of mass (CoM) of the three – link model
• Calculate horizontal and vertical components of ground reaction force– Calculated using Newton’s 2nd Law for CoM
Three – Link Analysis
Application of Newton’s 2nd Law and Euler’s Law to attain 9 equation’s of motion (EOM’s)– Three EOM’s per link• 2 EOM’s through • 1 EOM through
Three – Link AnalysisEquations of Motion:
Three – Link Analysis
Angular Position,
Velocity, and Acceleration
EOM’s Internal Forces and Torques
Results and Validation
Point Mass Analysis• GRFy vs. Experimental
Data from Force Plate• Force Plate =
Validation of dynamic analysis
• GRFx << GRFy which is the expected outcome
• Data from 0.0 to ~0.2 seconds is invalid due to filtering of video capture data• Squat performed
after 0.2 sec which allows invalid data to be neglected
Results and Validation
Three-Link Analysis:
• GRFy vs. Experimental Data from Force Plate• GRFy is less accurate
with this model than point mass model
• GRFx increases to a large magnitude which is not correct outcome
• Computations with three-link model more sensitive to measurement errors than point mass analysis
Results and Validation
Three – Link Analysis:• Figure, top to bottom:
• Calculated horizontal component of internal knee force
• Calculated vertical component of internal knee force
• Calculated horizontal component of internal hip force
• Calculated vertical component of internal hip force
• Amplitudes appear to be within a realistic range
Results and Validation
Three – Link Analysis:
Figure 6: Three-Link Calculated Internal Torques
• Ankle, knee, and hip torques• Result of subject’s
muscle actuation• Results qualitatively match
expected torque behavior• Values not consistent
with results in literature
Conclusions and Recommendations
• Partially demonstrated feasibility of system– GRF more accurate than internal forces and
torques• Sources of error–Markers– Clothing Color– Approximations– Frame rate/camera resolution
Future Research and Limitations• Long-term goal: Analyze broad range of human motion
and impact of such motion– Possible through calculation of internal forces and torques– Examples of human motion which could be analyzed:
• Prosthetic patient gait analysis• Sports performance analysis• Low-gravity analysis
• Three-dimensional video capture system• Multi-link model with an arbitrary number of links• Progress EOM’s to allow analysis where feet leave contact
with ground
Thank you
We appreciate you taking your time to listen– Questions/comments/concerns?