Kinematics estimation of straddled movements on high bar from a limited number of skin markers using a chain model

To reduce the effects of skin movement artefacts and apparent joint dislocations in the kinematics of whole body movement derived from marker locations, global optimisation procedures with a chain model have been developed. These procedures can also be used to reduce the number of markers when self-occlusions are hard to avoid. This paper assesses the kinematics precision of three marker sets: 16, 11 and 7 markers, for movements on high bar with straddled piked posture. A three-dimensional person-specific chain model was defined with 9 parameters and 12 degrees of freedom and an iterative procedure optimised the gymnast posture for each frame of the three marker sets. The time histories of joint angles obtained from the reduced marker sets were compared with those from the 16 marker set by means of a root mean square difference measure. Occlusions of medial markers fixed on the lower limb occurred when the legs were together and the pelvis markers disappeared primarily during the piked posture. Despite these occlusions, reconstruction was possible with 16, 11 and 7 markers. The time histories of joint angles were similar; the main differences were for the thigh mediolateral rotation and the knee flexion because the knee was close to full extension. When five markers were removed, the average angles difference was about 3 degrees . This difference increased to 9 degrees for the seven marker set. It is concluded that kinematics of sports movement can be reconstructed using a chain model and a global optimisation procedure for a reduced number of markers.     

Specificity of joint angle in isometric training

Six healthy women (21.8 +/- 0.4 y) did isometric strength training of the left plantarflexors at an ankle joint angle of 90 degrees. Training sessions, done 3 times per week for 6 weeks, consisted of 2 sets of ten 5 s maximal voluntary contractions. Prior to and following the training, and in random order, voluntary and evoked isometric contraction strength was measured at the training angle and at additional angles: 5 degrees, 10 degrees, 15 degrees, and 20 degrees intervals in the plantarflexion and dorsiflexion directions. Evoked contraction strength was measured as the peak torque of maximal twitch contractions of triceps surae. Training increased voluntary strength at the training angle and the two adjacent angles only (p less than 0.05). Time to peak twitch torque was not affected by training. Twitch half relaxation time increased after training (p = 0.013), but the increase was not specific to the training angle. There was a small (1.1%, p less than 0.05) increase in calf circumference after training. Evoked twitch torque did not increase significantly at any joint angle. It was therefore concluded that a neural mechanism is responsible for the specificity of joint angle observed in isometric training.     

A Biomechanical Model of the Scapulothoracic Joint to Accurately Capture Scapular Kinematics during Shoulder Movements

The complexity of shoulder mechanics combined with the movement of skin relative to the scapula makes it difficult to measure shoulder kinematics with sufficient accuracy to distinguish between symptomatic and asymptomatic individuals. Multibody skeletal models can improve motion capture accuracy by reducing the space of possible joint movements, and models are used widely to improve measurement of lower limb kinematics. In this study, we developed a rigid-body model of a scapulothoracic joint to describe the kinematics of the scapula relative to the thorax. This model describes scapular kinematics with four degrees of freedom: 1) elevation and 2) abduction of the scapula on an ellipsoidal thoracic surface, 3) upward rotation of the scapula normal to the thoracic surface, and 4) internal rotation of the scapula to lift the medial border of the scapula off the surface of the thorax. The surface dimensions and joint axes can be customized to match an individual’s anthropometry. We compared the model to “gold standard” bone-pin kinematics collected during three shoulder tasks and found modeled scapular kinematics to be accurate to within 2mm root-mean-squared error for individual bone-pin markers across all markers and movement tasks. As an additional test, we added random and systematic noise to the bone-pin marker data and found that the model reduced kinematic variability due to noise by 65% compared to Euler angles computed without the model. Our scapulothoracic joint model can be used for inverse and forward dynamics analyses and to compute joint reaction loads. The computational performance of the scapulothoracic joint model is well suited for real-time applications; it is freely available for use with OpenSim 3.2, and is customizable and usable with other OpenSim models.     

Fingertip replantation using the subdermal pocket procedure

Restoration of finger length and function are the goals of replantation after fingertip amputation. Methods include microsurgical replantation and nonmicrosurgical replantation, such as composite graft techniques. To increase the survival rates for composite grafts, the subcutaneous pocket procedure has been used as a salvage procedure. The subdermal pocket procedure, which is a modification of the subcutaneous pocket procedure, was used for replantation of 17 fingertips in 16 consecutive patients. Eight fingertips experienced guillotine injuries and the other nine fingertips experienced crush injuries. Revascularization of one digital artery without available venous outflow was performed for six fingers, and composite graft techniques were used for the other 11 fingers. The success rate was 16 of 17 cases. The difference in success rates for guillotine versus crush injuries was statistically significant. Comparison of patients with arterial anastomoses and patients without arterial anastomoses also indicated a statistically significant difference. Thirteen fingertips survived completely. One finger, demonstrating complete loss and early termination of the pocketing procedure, was amputated on the eighth postoperative day. Two fingers were partially lost because of severe crushing injuries. One finger demonstrated partial loss of more than one quarter of the fingertip, which required secondary revision, because the patient was a heavy smoker. The pocketing period was 8 +/- 1 days (mean +/- SD, n = 6) for the fingers revascularized with one digital arterial anastomosis and 13.3 +/- 1.9 days (n = 10) for the fingers successfully replanted with composite graft techniques. The mean active range of motion of the interphalangeal joint of the three thumbs was 65 +/- 5 degrees, and that of the distal interphalangeal joint of the other 11 fingers was 51 +/- 11 degrees. The static two-point discrimination result was 6.4 +/- 1.0 mm (n = 14) after an average of 11 +/- 5 months of follow-up monitoring. Compared with other methods, the subdermal pocket procedure has the advantages of exact subdermal/subdermal contact, a shorter pocketing period, and more feasible observation. The method can offer an alternative salvage procedure for fingertip amputations with no suitable vessels available for microsurgical replantation.     

Acute effects of static versus dynamic stretching on isometric peak torque, electromyography, and mechanomyography of the biceps femoris muscle

The purpose of this study was to examine the acute effects of static versus dynamic stretching on peak torque (PT) and electromyographic (EMG), and mechanomyographic (MMG) amplitude of the biceps femoris muscle (BF) during isometric maximal voluntary contractions of the leg flexors at four different knee joint angles. Fourteen men ((mean +/- SD) age, 25 +/- 4 years) performed two isometric leg flexion maximal voluntary contractions at knee joint angles of 41 degrees , 61 degrees , 81 degrees , and 101 degrees below full leg extension. EMG (muV) and MMG (m x s(-2)) signals were recorded from the BF muscle while PT values (Nm) were sampled from an isokinetic dynamometer. The right hamstrings were stretched with either static (stretching time, 9.2 +/- 0.4 minutes) or dynamic (9.1 +/- 0.3 minutes) stretching exercises. Four repetitions of three static stretching exercises were held for 30 seconds each, whereas four sets of three dynamic stretching exercises were performed (12-15 repetitions) with each set lasting 30 seconds. PT decreased after the static stretching at 81 degrees (p = 0.019) and 101 degrees (p = 0.001) but not at other angles. PT did not change (p > 0.05) after the dynamic stretching. EMG amplitude remained unchanged after the static stretching (p > 0.05) but increased after the dynamic stretching at 101 degrees (p < 0.001) and 81 degrees (p < 0.001). MMG amplitude increased in response to the static stretching at 101 degrees (p = 0.003), whereas the dynamic stretching increased MMG amplitude at all joint angles (p 相似文献   

Hand function: peripheral and central constraints on performance.

The hand is one of the most fascinating and sophisticated biological motor systems. The complex biomechanical and neural architecture of the hand poses challenging questions for understanding the control strategies that underlie the coordination of finger movements and forces required for a wide variety of behavioral tasks, ranging from multidigit grasping to the individuated movements of single digits. Hence, a number of experimental approaches, from studies of finger movement kinematics to the recording of electromyographic and cortical activities, have been used to extend our knowledge of neural control of the hand. Experimental evidence indicates that the simultaneous motion and force of the fingers are characterized by coordination patterns that reduce the number of independent degrees of freedom to be controlled. Peripheral and central constraints in the neuromuscular apparatus have been identified that may in part underlie these coordination patterns, simplifying the control of multi-digit grasping while placing certain limitations on individuation of finger movements. We review this evidence, with a particular emphasis on how these constraints extend through the neuromuscular system from the behavioral aspects of finger movements and forces to the control of the hand from the motor cortex.     

Measuring 3D Hand and Finger Kinematics—A Comparison between Inertial Sensing and an Opto-Electronic Marker System

Objective analysis of hand and finger kinematics is important to increase understanding of hand function and to quantify motor symptoms for clinical diagnosis. The aim of this paper is to compare a new 3D measurement system containing multiple miniature inertial sensors (PowerGlove) with an opto-electronic marker system during specific finger tasks in three healthy subjects. Various finger movements tasks were performed: flexion, fast flexion, tapping, hand open/closing, ab/adduction and circular pointing. 3D joint angles of the index finger joints and position of the thumb and index were compared between systems. Median root mean square differences of the main joint angles of interest ranged between 3.3 and 8.4deg. Largest differences were found in fast and circular pointing tasks, mainly in range of motion. Smallest differences for all 3D joint angles were observed in the flexion tasks. For fast finger tapping, the thumb/index amplitude showed a median difference of 15.8mm. Differences could be explained by skin movement artifacts caused by relative marker movements of the marker system, particularly during fast tasks; large movement accelerations and angular velocities which exceeded the range of the inertial sensors; and by differences in segment calibrations between systems. The PowerGlove is a system that can be of value to measure 3D hand and finger kinematics and positions in an ambulatory setting. The reported differences need to be taken into account when applying the system in studies understanding the hand function and quantifying hand motor symptoms in clinical practice.     

A new approach to reaching control for tetraplegic subjects

A simple upper limb control strategy to guide reaching in preparation to grasp for tetraplegic subjects is proposed. The control is based on new studies of self-paced human arm movements involving rotations about the shoulder and elbow joints. An experimental study of reaching, while grasping, by able-bodied humans, allowed us to reduce the dimensionality of the control vector from two to a single variable. This was accomplished by detailed analysis of the synergy between shoulder and elbow joint angles. This study examined only movements in teh horizontal plane. In the experiments we varied: (a) the shape of targets; (b) their position relative to the initial position of the hand; and (c) the speed of reaching. A synergy between shoulder and elbow joint angles was found in most analysed movements, and it was characterized by a scaling parameter between elbow and shoulder angular velocities. The scaling parameter was determined from the target position presented in the visual perceptive field and initial shoulder and elbow angles. The same experimental setup in studies with tetraplegics with retained shoulder movements showed that this natural synergism is preserved even though the motor and sensory components of the upper limb are reduced or absent. Tetraplegics originally showed a very different reaching pattern, but after short training sessions they developed a reaching behaviour which was similar to able-bodied subjects. The results presented can be used in the following way: a tetraplegic subject lacking elbow extension and flexion may be fitted with an assistive system which will be volitionally controlled only from ipsilateral shoulder movements. The assistive system can comprise either a motorized brace, or a functional electrical stimulation system applied to elbow flexors and extensors. With this system volitional movements at the shoulder would bring the hand into the correct position to accomplish an assisted grasping motion.     

Movements of Individual Digits in Bimanual Prehension Are Coupled into a Grasping Component

The classic understanding of prehension is that of coordinated reaching and grasping. An alternative view is that the grasping in prehension emerges from independently controlled individual digit movements (the double-pointing model). The current study tested this latter model in bimanual prehension: participants had to grasp an object between their two index fingers. Right after the start of the movement, the future end position of one of the digits was perturbed. The perturbations resulted in expected changes in the kinematics of the perturbed digit but also in adjusted kinematics in the unperturbed digit. The latter effects showed up when the end position of the right index finger was perturbed, but not when the end position of the left index finger was perturbed. Because the absence of a coupling between the digits is the core assumption of the double-pointing model, finding any perturbation effects challenges this account of prehension; the double-pointing model predicts that the unperturbed digit would be unaffected by the perturbation. The authors conclude that the movement of the digits in prehension is coupled into a grasping component.     

Interpolation of segment Euler angles can provide a robust estimation of segment angular trajectories during asymmetric lifting tasks

Video-based field methods that estimate L5/S1 net joint moments from kinematics based on interpolation in the sagittal plane of joint angles alone can introduce a significant error on the interpolated joint angular trajectory when applied to asymmetric dynamic lifts. Our goal was to evaluate interpolation of segment Euler angles for a wide range of dynamic asymmetric lifting tasks using cubic spline methods by comparing the interpolated values with the continuous measured ones. For most body segments, the estimated trajectories of segment Euler angles have less than 5° RMSE (in each dimension) with 5-point cubic spline interpolation when there is no measurement error of interpolation points. Sensitivity analysis indicates that when the measurement error exists, the root mean square error (RMSE) of estimated trajectories increases. Comparison among different lifting conditions showed that lifting a load from a high initial position yielded a smaller RMSE than lifting from a low initial position. In conclusion, interpolation of segment Euler angles can provide a robust estimation of segment angular trajectories during asymmetric lifting when measurement error of interpolation points can be controlled at a low level.     

A comparison of kinematics between overarm throwing with 20% underweight, regular, and 20% overweight balls

The aim of this study was to compare the kinematics in throwing with a regular weighted handball with 20% lighter and heavier balls in female experienced handball players. In total, eight joint movements during the throw were analyzed. The analysis consisted of maximal angles, angles at ball release, and maximal angular velocities of the joint movements and their timings during the throw. Results on 24 experienced female team handball players (mean age 18.2 ± 2.1 years) showed that the difference in ball weight affected the maximal ball velocity. The difference in ball release velocity was probably a result of the significant differences in kinematics of the major contributors to overarm throwing: elbow extension and internal rotation of the shoulder. These were altered when changing the ball weight, which resulted in differences in ball release velocity.     

A kinematic model of the human hand to evaluate its prehensile capabilities.

A kinematic model has been developed for simulation and prediction of the prehensile capabilities of the human hand. The kinematic skeleton of the hand is characterized by ideal joints and simple segments. Finger-joint angulation is characterized by yaw (abduction-adduction), pitch (flexion-extension) and roll (axial rotation) angles. The model is based on an algorithm that determines contact between two ellipsoids, which are used to approximate the geometry of the cutaneous surface of the hand segments. The model predicts the hand posture (joint angles) for power grasp of ellipsoidal objects by 'wrapping' the fingers around the object. Algorithms for two grip types are included: (1) a transverse volar grasp, which has the thumb abducted for added power; and (2) a diagonal volar grasp, which has the thumb adducted for an element of precision. Coefficients for estimating anthropometric parameters from hand length and breadth are incorporated in the model. Graphics procedures are included for visual display of the model. In an effort to validate the predictive capabilities of the model, joint angles were measured on six subjects grasping circular cylinders of various diameters and these measured joint angles were compared with angles predicted by the model. Sensitivity of the model to the various input parameters was also determined. On an average, the model predicted joint flexion angles that were 5.3% or 2.8 degrees +/- 12.2 degrees larger than the measured angles. Good agreement was found for the MCP and PIP joints, but results for DIP were more variable because of its dependence on the predictions for the proximal joints.     

A novel methodology to reproduce previously recorded six-degree of freedom kinematics on the same diarthrodial joint

The objective of this study was to develop a novel method to more accurately reproduce previously recorded 6-DOF kinematics of the tibia with respect to the femur using robotic technology. Furthermore, the effect of performing only a single or multiple registrations and the effect of robot joint configuration were investigated. A single registration consisted of registering the tibia and femur with respect to the robot at full extension and reproducing all kinematics while multiple registrations consisted of registering the bones at each flexion angle and reproducing only the kinematics of the corresponding flexion angle. Kinematics of the knee in response to an anterior (134 N) and combined internal/external (+/-10 N m) and varus/valgus (+/-5 N m) loads were collected at 0 degrees , 15 degrees , 30 degrees , 60 degrees , and 90 degrees of flexion. A six axes, serial-articulated robotic manipulator (PUMA Model 762) was calibrated and the working volume was reduced to improve the robot's accuracy. The effect of the robot joint configuration was determined by performing single and multiple registrations for three selected configurations. For each robot joint configuration, the accuracy in position of the reproduced kinematics improved after multiple registrations (0.7+/-0.3, 1.2+/-0.5, and 0.9+/-0.2 mm, respectively) when compared to only a single registration (1.3+/-0.9, 2.0+/-1.0, and 1.5+/-0.7 mm, respectively) (p<0.05). The accuracy in position of each robot joint configuration was unique as significant differences were detected between each of the configurations. These data demonstrate that the number of registrations and the robot joint configuration both affect the accuracy of the reproduced kinematics. Therefore, when using robotic technology to reproduce previously recorded kinematics, it may be necessary to perform these analyses for each individual robotic system and for each diarthrodial joint, as different joints will require the robot to be placed in different robot joint configurations.     

Mechanomyographic and electromyographic responses to unilateral isometric training

The purpose of this investigation was to examine the effects of unilateral, isometric training of the forearm flexors on strength and the mechanomyographic (MMG) and electromyographic (EMG) responses of the biceps brachii in the trained and untrained limb at three joint angles. Seventeen adult females (mean age +/- SD = 21 +/- 2 years) were randomly assigned to a control (CTL; N=7) or a training (TRN; N=10) group. The TRN group performed isometric training of the non-dominant forearm flexors on a Cybex II Dynamometer at a joint angle such that the Cybex lever arm was positioned 60 degrees above the horizontal plane. The training consisted of 3 to 5 sets of 8, 6-second repetitions at 80% of maximal voluntary contraction 3 times per week for 8 weeks. The results indicated a significant increase in flexed arm circumference as well as isometric strength in the trained limb at all three joint angles. There were, however, no changes in MMG or EMG amplitude in the trained or untrained limb and no cross-training effect for strength or flexed arm circumference. These findings suggested that the increased strength may have been due to factors associated with hypertrophy, independent of neural adaptations in the biceps brachii. Furthermore, hypertrophy may have had counteractive effects on the MMG signal that could be responsible for the lack of a training-induced change in the MMG amplitude.     

Dynamic Scapular Movement Analysis: Is It Feasible and Reliable in Stroke Patients during Arm Elevation?

Knowledge of three-dimensional scapular movements is essential to understand post-stroke shoulder pain. The goal of the present work is to determine the feasibility and the within and between session reliability of a movement protocol for three-dimensional scapular movement analysis in stroke patients with mild to moderate impairment, using an optoelectronic measurement system. Scapular kinematics of 10 stroke patients and 10 healthy controls was recorded on two occasions during active anteflexion and abduction from 0° to 60° and from 0° to 120°. All tasks were executed unilaterally and bilaterally. The protocol’s feasibility was first assessed, followed by within and between session reliability of scapular total range of motion (ROM), joint angles at start position and of angular waveforms. Additionally, measurement errors were calculated for all parameters. Results indicated that the protocol was generally feasible for this group of patients and assessors. Within session reliability was very good for all tasks. Between sessions, scapular angles at start position were measured reliably for most tasks, while scapular ROM was more reliable during the 120° tasks. In general, scapular angles showed higher reliability during anteflexion compared to abduction, especially for protraction. Scapular lateral rotations resulted in smallest measurement errors. This study indicates that scapular kinematics can be measured reliably and with precision within one measurement session. In case of multiple test sessions, further methodological optimization is required for this protocol to be suitable for clinical decision-making and evaluation of treatment efficacy.     

Grasping kinematics from the perspective of the individual digits: a modelling study

Grasping is a prototype of human motor coordination. Nevertheless, it is not known what determines the typical movement patterns of grasping. One way to approach this issue is by building models. We developed a model based on the movements of the individual digits. In our model the following objectives were taken into account for each digit: move smoothly to the preselected goal position on the object without hitting other surfaces, arrive at about the same time as the other digit and never move too far from the other digit. These objectives were implemented by regarding the tips of the digits as point masses with a spring between them, each attracted to its goal position and repelled from objects' surfaces. Their movements were damped. Using a single set of parameters, our model can reproduce a wider variety of experimental findings than any previous model of grasping. Apart from reproducing known effects (even the angles under which digits approach trapezoidal objects' surfaces, which no other model can explain), our model predicted that the increase in maximum grip aperture with object size should be greater for blocks than for cylinders. A survey of the literature shows that this is indeed how humans behave. The model can also adequately predict how single digit pointing movements are made. This supports the idea that grasping kinematics follow from the movements of the individual digits.     

Effect of eccentric exercise on position sense at the human forearm in different postures.

This is a study of the ability of blindfolded human subjects to match the position of their forearms before and after eccentric exercise. The hypothesis tested was that the sense of effort contributed to forearm position sense. The fall in force after the exercise was predicted to alter the relationship between effort and force and thereby induce position errors. In the arms-in-front posture, subjects had their unsupported reference arm set to one of two angles from the horizontal, 30 or 60 degrees , and they matched its position by voluntary placement of their other arm. Matching errors were compared with a task where the arms were counterweighted, so could be moved in the vertical plane with minimal effort, and where the arms were moved in the horizontal plane. In these latter two tasks, the intention was to test whether removal of an effort sensation from holding the arm against gravity influenced matching performance. It was found that, although absolute errors for counterweighted and horizontal matching were no larger than for unsupported matching, their standard deviations, 6.1 and 6.8 degrees , respectively, were significantly greater than for unsupported matching (4.6 degrees ), indicating more erratic matching. The eccentric exercise led, the next day, to a fall in maximum voluntary muscle torque of >or=15%. This was accompanied by a significant increase in matching errors for the unsupported matching task from 2.7 +/- 0.5 to 0.8 +/- 0.7 degrees but not for counterweighted (1.4 +/- 0.2 to -0.2 degrees +/- 1.1 degrees ) or horizontal matching (-1.3 +/- 0.7 degrees to -1.8 +/- 0.7 degrees ). This, it is postulated, is because the reduced voluntary torque after exercise was accompanied by a greater effort required to support the arms, leading to larger matching errors. However, effort is only able to provide positional information for unsupported matching where gravity plays a role. In gravity-neutral tasks like counterweighted or horizontal matching, a change in the effort-force relationship after exercise leaves matching accuracy unaffected.     

Influence of tendon slack on electromechanical delay in the human medial gastrocnemius in vivo.

The purpose of this study was to clarify the influence of muscle-tendon complex stretch on electromechanical delay (EMD) in terms of the extent of tendon slack in the human medial gastrocnemius (MG). EMD and MG tendon length were measured at each of five ankle joint angles (-30, -20, -10, 0, and 5 degrees : positive values for dorsiflexion) using percutaneous electrical stimulation and ultrasonography, respectively. The extent of MG tendon slack was calculated as MG tendon length shortening, standardized with MG tendon slack length obtained at the joint angle (-16 degrees +/- 5 degrees ) where the passive ankle joint torque was zero. EMD at -30 degrees (19.2 +/-2.2 ms) and -20 degrees (17.2 +/- 1.3 ms) was significantly greater than that at -10 degrees (16.0 +/-2.3 ms), 0 degrees (15.0 +/-1.4 ms), and 5 degrees (14.8 +/-1.4 ms), and at 0 and 5 degrees, respectively. The relative EMD, normalized with the maximal EMD for each subject, decreased dependent on the extent of decrease in MG tendon slack. There were no significant differences in EMD among the joint angles (-10, 0, and 5 degrees ) where MG tendon slack was taken up. These results suggest that the extent of tendon slack is an important factor for determining EMD.     

The effect of single versus multiple sets on strength

Research has previously been divided on whether performing resistance training with a single set per training session is as effective for increasing strength as training with multiple sets. The purpose of this study was to determine the effect of single sets versus multiple sets on strength. Forty subjects were randomly assigned into 1 of 3 groups: control (C; n = 8), single set (SS; n = 14), or multiple sets (MS; n = 18) to perform 8 maximal knee extensions at 60 degrees .s(-1) on a Biodex System 3 isokinetic dynamometer twice a week for 8 weeks. The SS group performed 1 set while the MS group performed 3 sets. All groups were pre-, mid- (4 weeks), and posttested at 60 degrees x s(-1). Strength was expressed as peak torque (PT). A 3 x 3 x 2 (time x group x sex) mixed factor repeated measures analysis of variance (ANOVA) revealed no interaction involving sex, but there was an interaction of group by time. The MS group exhibited a significant (p < 0.05) increase in PT (pre = 171.39 +/- 61.98 Nm; mid = 193.08 +/- 66.23 Nm) between the pretest and the midtest while the SS (pre = 163.45 +/- 56.37 Nm; mid = 172.60 +/- 61.78 Nm) and C groups (pre = 135.997 +/- 54.31 Nm; mid = 127.66 +/- 53.12 Nm) did not change. Strength did not change between the midtest and the posttest for any group. It was concluded that performing 3 sets of isokinetic knee extensions was more effective than performing a single set for increasing peak torque. These results seem to indicate that for increasing strength of the quadriceps, performing multiple sets is superior to performing a single set of resistance exercise.     

A new model to predict in vivo human knee kinematics under physiological-like muscle activation

Although a number of approaches have attempted to model knee kinematics, rarely have they been validated against in vivo data in a larger subject cohort. Here, we assess the feasibility of four-bar linkage mechanisms in addressing knee kinematics and propose a new approach that is capable of accounting for lengthening characteristics of the ligaments, including possible laxity, as well as the internal/external rotation of the joint. MR scans of the knee joints of 12 healthy volunteers were taken at flexion angles of 0 degrees , 30 degrees and 90 degrees under both passive and active muscle conditions. By reconstructing the surfaces at each position, the accuracy of the four-bar linkage mechanism was assessed for every possible combination of points within each cruciate ligament attachment area. The specific set of parameters that minimized the deviation between the predictions and the in vivo pose was derived, producing a mean error of 1.8 and 2.5 on the medial and 1.7 and 2.4mm on the lateral side at 30 degrees and 90 degrees flexion, respectively, for passive motion, significantly improving on the models that did not consider internal/external rotation. For active flexion, mean medial errors were 3.3 and 4.7 mm and lateral errors 3.4 and 4.8 mm. Using this best parameter set, a generic predictive model was created and assessed against the known in vivo positions, producing a maximum average error of 4.9 mm at 90 degrees flexion. The accuracy achieved shows that kinematics may be accurately reconstructed for subject specific musculoskeletal models to allow a better understanding of the load distribution within the knee.