0
Research Papers

Dynamic Parameter Identification of Subject-Specific Body Segment Parameters Using Robotics Formalism: Case Study Head Complex

[+] Author and Article Information
Miguel Díaz-Rodríguez

Departamento de Tecnología y Diseño,
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
e-mail: dmiguel@ula.ve

Angel Valera

Institute Universitario de Automática e
Informática Industrial,
Universitat Politècnica de Valencià,
Valencia 46022, Spain

Alvaro Page

Grupo de Tecnología Sanitaria del IBV,
CIBER de Bioingeniería,
Biomateriales y Nanomedicina (CIBER-BBN),
Valencia 46022, Spain

Antonio Besa, Vicente Mata

Centro de Investigación en Ingeniería Mecánica,
Universitat Politècnica de Valencià,
Valencia 46022, Spain

Manuscript received October 16, 2015; final manuscript received February 29, 2016; published online March 30, 2016. Assoc. Editor: Brian D. Stemper.

J Biomech Eng 138(5), 051009 (Mar 30, 2016) (8 pages) Paper No: BIO-15-1523; doi: 10.1115/1.4032997 History: Received October 16, 2015; Revised February 29, 2016

Accurate knowledge of body segment inertia parameters (BSIP) improves the assessment of dynamic analysis based on biomechanical models, which is of paramount importance in fields such as sport activities or impact crash test. Early approaches for BSIP identification rely on the experiments conducted on cadavers or through imaging techniques conducted on living subjects. Recent approaches for BSIP identification rely on inverse dynamic modeling. However, most of the approaches are focused on the entire body, and verification of BSIP for dynamic analysis for distal segment or chain of segments, which has proven to be of significant importance in impact test studies, is rarely established. Previous studies have suggested that BSIP should be obtained by using subject-specific identification techniques. To this end, our paper develops a novel approach for estimating subject-specific BSIP based on static and dynamics identification models (SIM, DIM). We test the validity of SIM and DIM by comparing the results using parameters obtained from a regression model proposed by De Leva (1996, “Adjustments to Zatsiorsky-Seluyanov's Segment Inertia Parameters,” J. Biomech., 29(9), pp. 1223–1230). Both SIM and DIM are developed considering robotics formalism. First, the static model allows the mass and center of gravity (COG) to be estimated. Second, the results from the static model are included in the dynamics equation allowing us to estimate the moment of inertia (MOI). As a case study, we applied the approach to evaluate the dynamics modeling of the head complex. Findings provide some insight into the validity not only of the proposed method but also of the application proposed by De Leva (1996, “Adjustments to Zatsiorsky-Seluyanov's Segment Inertia Parameters,” J. Biomech., 29(9), pp. 1223–1230) for dynamic modeling of body segments.

FIGURES IN THIS ARTICLE
<>
Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.

References

Piovesan, D. , Pierobon, A. , Dizio, P. , and Lackner, J. R. , 2011, “ Comparative Analysis of Methods for Estimating Arm Segment Parameters and Joint Torques From Inverse Dynamics,” ASME J. Biomech. Eng., 133(3), p. 031003. [CrossRef]
Dempster, W. , 1955, “ Space Requirements of the Seated Operator,” Wright Air Development Center, Wright-Patterson AFB, Technical Report No. WADC-TR-55-159.
Dempster, W. T. , and Gaughran, G. R. , 1967, “ Properties of Body Segments Based on Size and Weight,” Am. J. Anat., 120(1), pp. 33–54. [CrossRef]
Clauser, C. E. , McConville, J. T. , and Young, J. W. , 1969, “ Weight, Volume, and Center of Mass of Segments of the Human Body,” DTIC Document Technical Report No. AMRL-TR-69-70.
Chandler, R. , Clauser, C. E. , McConville, J. T. , Reynolds, H. , and Young, J. W. , 1975, “ Investigation of Inertial Properties of the Human Body,” DTIC Document Technical Report No. AMRL-TR-74-137.
Yoganandan, N. , Pintar, F. A. , Zhang, J. , and Baisden, J. L. , 2009, “ Physical Properties of the Human Head: Mass, Center of Gravity and Moment of Inertia,” J. Biomech., 42(9), pp. 1177–1192. [CrossRef] [PubMed]
Hanavan, E. P. , 1964, “ A Mathematical Model of the Human Body,” DTIC Document Technical Report No. AMRL-TR-64-102
Jensen, R. K. , 1978, “ Estimation of the Biomechanical Properties of Three Body Types Using a Photogrammetric Method,” J. Biomech., 11(8), pp. 349–358. [CrossRef] [PubMed]
McConville, J. T. , Clauser, C. E. , Churchill, T. D. , Cuzzi, J. , and Kaleps, I. , 1980, “ Anthropometric Relationships of Body and Body Segment Moments of Inertia,” Technical Report No. AFAMRL-TR-80-119.
Young, J. W. , Chandler, R. F. , Snow, C. C. , Robinette, K. M. , Zehner, G. F. , and Lofberg, M. S. , 1983, “ Anthropometric and Mass Distribution Characteristics of the Adult Female,” DTIC Document Technical Report No. FAA-AM-83-16.
Dumas, R. , Cheze, L. , and Verriest, J.-P. , 2007, “ Adjustments to McConville et al. and Young et al. Body Segment Inertial Parameters,” J. Biomech., 40(3), pp. 543–553. [CrossRef] [PubMed]
Martin, P. E. , Mungiole, M. , Marzke, M. W. , and Longhill, J. M. , 1989, “ The Use of Magnetic Resonance Imaging for Measuring Segment Inertial Properties,” J. Biomech., 22(4), pp. 367–376. [CrossRef] [PubMed]
Zatsiorsky, V. , and Seluyanov, V. , 1983, “ The Mass and Inertia Characteristics of the Main Segments of the Human Body,” Biomechanics VIII-B, H. Matsui , and K. Kobayashi , eds., Human Kinetic Publishers, Champaign, IL, pp. 1152–1159.
Huang, H. , and Wu, S. , 1976, “ The Evaluation of Mass Densities of the Human Body In Vivi From CT Scans,” Comput. Biol. Med., 6(4), pp. 337–343. [CrossRef] [PubMed]
Ackland, T. R. , Henson, P. W. , and Bailey, D. A. , 2010, “ The Uniform Density Assumption: Its Effect Upon the Estimation of Body Segment Inertial Parameters,” J. Appl. Biomech., 4(2), pp. 146–155.
Milburn, P. , 1991, “ Real-Time 3-Dimensional Imaging Using Ultrasound,” XIIIth Congress of the International Society of Biomechanics, pp. 1230–1231.
Durkin, J. L. , Dowling, J. J. , and Andrews, D. M. , 2002, “ The Measurement of Body Segment Inertial Parameters Using Dual Energy X-Ray Absorptiometry,” J. Biomech., 35(12), pp. 1575–1580. [CrossRef] [PubMed]
De Leva, P. , 1996, “ Adjustments to Zatsiorsky–Seluyanov's Segment Inertia Parameters,” J. Biomech., 29(9), pp. 1223–1230. [CrossRef] [PubMed]
Kodek, T. , 2004, “ An Identification Technique for Evaluating Static Body Segment Parameters in the Upper Extremity,” IEEE International Conference on Robotics and Automation (ICRA'04), Apr. 26–May1, IEEE, Vol. 5, pp. 4747–4752.
Ma, Y. , Kwon, J. , Mao, Z. , Lee, K. , Li, L. , and Chung, H. , 2011, “ Segment Inertial Parameters of Korean Adults Estimated From Three-Dimensional Body Laser Scan Data,” Int. J. Ind. Ergon., 41(1), pp. 19–29. [CrossRef]
Yoganandan, N. , Maiman, D. J. , Guan, Y. , and Pintar, F. , 2009, “ Importance of Physical Properties of the Human Head on Head-Neck Injury Metrics,” Traffic Inj. Prev., 10(5), pp. 488–496. [CrossRef] [PubMed]
Vaughan, C. , Andrews, J. , and Hay, J. , 1982, “ Selection of Body Segment Parameters by Optimization Methods,” ASME J. Biomech. Eng., 104(1), pp. 38–44. [CrossRef]
Damavandi, M. , Farahpour, N. , and Allard, P. , 2009, “ Determination of Body Segment Masses and Centers of Mass Using a Force Plate Method in Individuals of Different Morphology,” Med. Eng. Phys., 31(9), pp. 1187–1194. [CrossRef] [PubMed]
Damavandi, M. , Stylianides, G. , Farahpour, N. , and Allard, P. , 2011, “ Head and Trunk Segment Moments of Inertia Estimation Using Angular Momentum Technique: Validity and Sensitivity Analysis,” IEEE Trans. Biomed. Eng., 58(5), pp. 1278–1285. [CrossRef] [PubMed]
Ayusawa, K. , Nakamura, Y. , and Venture, G. , 2009, “ Optimal Estimation of Human Body Segments Dynamics Using Realtime Visual Feedback,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, St. Louis, MO, Oct. 10–15, pp. 1627–1632.
Hansen, C. , Rezzoug, N. , Gorce, P. , Isableu, B. , and Venture, G. , 2013, “ Contact Force Computation Based on BSIPs,” Comput. Methods Biomech. Biomed. Eng., 16(1), pp. 72–74. [CrossRef]
Hansen, C. , Venture, G. , Rezzoug, N. , Gorce, P. , and Isableu, B. , 2014, “ An Individual and Dynamic Body Segment Inertial Parameter Validation Method Using Ground Reaction Forces,” J. Biomech., 47(7), pp. 1577–1581. [CrossRef] [PubMed]
Ayusawa, K. , Venture, G. , and Nakamura, Y. , 2014, “ Identifiability and Identification of Inertial Parameters Using the Underactuated Base-Link Dynamics for Legged Multibody Systems,” Int. J. Rob. Res., 33(3), pp. 446–468. [CrossRef]
Mata, V. , Farhat, N. , Díaz-Rodríguez, M. , Valera, A. , and Page, A. , 2008, Dynamic Parameters Identification for Parallel Manipulator, Tech Education and Publishing, Vienna, Austria, pp. 21–44.
Szeto, G. P. , Straker, L. , and Raine, S. , 2002, “ A Field Comparison of Neck and Shoulder Postures in Symptomatic and Asymptomatic Office Workers,” Appl. Ergon., 33(1), pp. 75–84. [CrossRef] [PubMed]
Willinger, R. , Bourdet, N. , Fischer, R. , and Le Gall, F. , 2005, “ Modal Analysis of the Human Neck In Vivo as a Criterion for Crash Test Dummy Evaluation,” J. Sound Vib., 287(3), pp. 405–431. [CrossRef]
Straker, L. , Burgess-Limerick, R. , Pollock, C. , Murray, K. , Netto, K. , Coleman, J. , and Skoss, R. , 2008, “ The Impact of Computer Display Height and Desk Design on 3D Posture During Information Technology Work by Young Adults,” J. Electromyography Kinesiology, 18(2), pp. 336–349. [CrossRef]
Page, Á. , De Rosario, H. , Gálvez, J. A. , and Mata, V. , 2011, “ Representation of Planar Motion of Complex Joints by Means of Rolling Pairs. Application to Neck Motion,” J. Biomech., 44(4), pp. 747–750. [CrossRef] [PubMed]
Baydal-Bertomeu, J. M. , Page, Á. F. , Belda-Lois, J. M. , Garrido-Jaén, D. , and Prat, J. M. , 2011, “ Neck Motion Patterns in Whiplash-Associated Disorders: Quantifying Variability and Spontaneity of Movement,” Clin. Biomech., 26(1), pp. 29–34. [CrossRef]
Page, A. , De Rosario, H. , Mata, V. , Hoyos, J. , and Porcar, R. , 2006, “ Effect of Marker Cluster Design on the Accuracy of Human Movement Analysis Using Stereophotogrammetry,” Med. Biol. Eng. Comput., 44(12), pp. 1113–1119. [CrossRef] [PubMed]
Page, Á. , de Rosario, H. , Mata, V. , and Atienza, C. , 2009, “ Experimental Analysis of Rigid Body Motion. A Vector Method to Determine Finite and Infinitesimal Displacements From Point Coordinates,” ASME J. Mech. Des., 131(3), p. 031005. [CrossRef]
Page, A. , Candelas, P. , and Belmar, F. , 2006, “ On the Use of Local Fitting Techniques for the Analysis of Physical Dynamic Systems,” Eur. J. Phys., 27(2), pp. 273–280. [CrossRef]
Diaz-Rodriguez, M. , Valera, A. , Mata, V. , and Valles, M. , 2013, “ Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters,” IEEE/ASME Trans. Mechatron., 18(6), pp. 1737–1744. [CrossRef]
Kollia, A. , Pillet, H. , Bascou, J. , Villa, C. , Sauret, C. , and Lavaste, F. , 2012, “ Validation of a Volumic Model to Obtain Personalized Body Segment Inertial Parameters for People Sitting in a Wheelchair,” Comput. Methods Biomech. Biomed. Eng., 15(1), pp. 208–209. [CrossRef]
Pataky, T. C. , Zatsiorsky, V. M. , and Challis, J. H. , 2003, “ A Simple Method to Determine Body Segment Masses In Vivo: Reliability, Accuracy and Sensitivity Analysis,” Clin. Biomech., 18(4), pp. 364–368. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Free body diagram of forces acting on two consecutive body segments

Grahic Jump Location
Fig. 2

The movement of the head in sagittal plane which is the same as the moving axode (dotted line) rolling without sliding over the fixed axode (solid line). (a) Rolling-pair model corresponding to an actual flexion–extension movement [33]. (b) Simplified rolling pair model for simulating the motion of the head.

Grahic Jump Location
Fig. 3

Static model relative absolute error versus frequency

Grahic Jump Location
Fig. 4

Dynamic model relative absolute error versus frequency

Grahic Jump Location
Fig. 5

Experimental setup for in vivo identification of BSIP

Grahic Jump Location
Fig. 6

The two computed (SIM and De Leva) and the measured (My left, Mx right) moment at the force platform (FP). (a) Head moves in sagittal plane, My. (b) Head moves in frontal plane, Mx.

Grahic Jump Location
Fig. 7

The two computed (DIM and De Leva) and the measured moment at the FP. (a) Head moves in sagittal plane, My. (b) Head moves in frontal plane, Mx.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In