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A kinematic model of the human ankle
Affiliation:1. Department of Internal Medicine, Johns Hopkins Bayview Medical Center, Johns Hopkins University School of Medicine, Baltimore, MD;2. Department of Dermatology and Pathology, Johns Hopkins Bayview Medical Center, Johns Hopkins University School of Medicine, Baltimore, MD;1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;2. Institute of Aerospace System Engineering Shanghai, Shanghai 201108, China;1. KU Leuven Department of Rehabilitation Sciences, Faculty of Kinesiology and Rehabilitation Sciences, Leuven, Belgium;2. Sports Medicine Research Laboratory, Luxembourg Institute of Health, Luxembourg, Luxembourg;3. KU Leuven Human Movement Biomechanics Research Group, Leuven, Belgium;4. Orthopedic Association Genk, Ziekenhuis Oost-Limburg Genk, Belgium;5. KU Leuven Department of Mechanical Engineering, Faculty of Engineering, Leuven, Belgium;6. KU Leuven Department of Development and Regeneration, Faculty of Medicine, Leuven, Belgium;7. UZ Pellenberg Orthopedic Department, University Hospitals Leuven, Pellenberg, Belgium
Abstract:The spatial gross motion of the foot with respect to the shank is modelled as rotations about two fixed ankle axes: the upper ankle rotation axis (plantarflexion/dorsiflexion) and the subtalar rotation axis (inversion/eversion). The positions of the axes are determined by externally visible bony landmarks of the lower leg and are measured for a living subject. The model input data are the plantarflexion/dorsiflexion and inversion/eversion rotation angles; the model output is a 4 × 4 transformation matrix which quantitatively describes the relative position of a foot coordinate system with respect to a shank coordinate system.
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