A Technique for Kinematic Modeling of Anatomical Joints

[+] Author and Article Information
H. J. Sommer

Department of Mechanical Engineering, The Pennsylvania State University, University Park, Pa. 16802

N. R. Miller

Department of Mechanical and Industrial Engineering and Bioengineering, University of Illinois at Urbana-Champaign, Urbana, Ill. 61801

J Biomech Eng 102(4), 311-317 (Nov 01, 1980) (7 pages) doi:10.1115/1.3138228 History: Received July 14, 1980; Online June 15, 2009


This paper describes a general technique for fitting a spatial kinematic model to an in-vivo anatomical joint under typical physiological loading conditions. The method employs a nonlinear least squares algorithm to minimize the aggregate deviation between postulated model motion and experimentally measured anatomical joint motion over multiple joint positions. Estimation of the parameters of a universal joint with skew-oblique revolutes to best reproduce wrist motion was used as an example. Experimental motion data from the right wrists of five subjects were analyzed. The technique performed very well and produced repeatable results consistent with previous biomechanical wrist findings.

Copyright © 1980 by ASME
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