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TECHNICAL BRIEFS

Influence of the 3D Inverse Dynamic Method on the Joint Forces and Moments During Gait

[+] Author and Article Information
R. Dumas1

 Univerité de Lyon, Laboratoire de Biomécanique et Mécanique des Chocs, UMR_T 9406–Universite Lyon 1 /INRETS, Bât. Oméga, Bd du 11 Novembre 1918, Villeurbanne, F-69622, Franceraphael.dumas@univ-lyon1.fr

E. Nicol, L. Chèze

 Univerité de Lyon, Laboratoire de Biomécanique et Mécanique des Chocs, UMR_T 9406–Universite Lyon 1 /INRETS, Bât. Oméga, Bd du 11 Novembre 1918, Villeurbanne, F-69622, France

1

Corresponding author.

J Biomech Eng 129(5), 786-790 (Apr 19, 2007) (5 pages) doi:10.1115/1.2768114 History: Received January 03, 2006; Revised April 19, 2007

The joint forces and moments are commonly used in gait analysis. They can be computed by four different 3D inverse dynamic methods proposed in the literature, either based on vectors and Euler angles, wrenches and quaternions, homogeneous matrices, or generalized coordinates and forces. In order to analyze the influence of the inverse dynamic method, the joint forces and moments were computed during gait on nine healthy subjects. A ratio was computed between the relative dispersions (due to the method) and the absolute amplitudes of the gait curves. The influence of the inverse dynamic method was negligible at the ankle (2%) but major at the knee and the hip joints (40%). This influence seems to be due to the dynamic computation rather than the kinematic computation. Compared to the influence of the joint center location, the body segment inertial parameter estimation, and more, the influence of the inverse dynamic method is at least of equivalent importance. This point should be confirmed with other subjects, possibly pathologic, and other movements.

FIGURES IN THIS ARTICLE
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Copyright © 2007 by American Society of Mechanical Engineers
Topics: Force , Computation
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References

Figures

Grahic Jump Location
Figure 2

Angular velocity obtained for the thigh segment by the methods based on vectors and Euler angles, on quaternions and wrenches, and on homogeneous matrices. Mean (on the nine subjects) of the curves about the Z-axis of the Inertial Coordinate System (ICS).

Grahic Jump Location
Figure 3

Normalized joint moments obtained by the four inverse dynamic methods, mean (on the nine subjects) of the curves about the Z-axis of the Inertial Coordinate System (ICS): (a) ankle joint, (b) knee joint, and (c) hip joint

Grahic Jump Location
Figure 1

Principles of the four inverse dynamic methods: (a) method based on vectors and Euler angles, (b) method based on wrenches and quaternions, (c) method based on homogeneous matrices, and (d) method based on generalized coordinates and forces

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