Joint moment estimation using the traditional inverse dynamics analysis presents two challenging problems, which limit its reliability. First, the quality of the computed moments depends directly on unreliable estimates of the segment accelerations obtained numerically by differentiating noisy marker measurements. Second, the representation of joint moments from combined video and force plate measurements belongs to a class of ill-posed problems, which does not possess a unique solution. This paper presents a well-posed representation derived from an embedded constraint equation. The proposed method, referred to as the embedded constraint representation (ECR), provides unique moment estimates, which satisfy all measurement constraints and boundary conditions and require fewer acceleration components than the traditional inverse dynamics method. Specifically, for an n-segment open chain planar system, the ECR requires acceleration components as compared to components required by the traditional (from ground up) inverse dynamics analysis. Based on a simulated experiment using a simple three-segment model, the precision of the ECR is evaluated at different noise levels and compared to the traditional inverse dynamics technique. At the lowest noise levels, the inverse dynamics method is up to 50 percent more accurate while at the highest noise levels the ECR method is up to 100 percent more accurate. The ECR results over the entire range of noise levels reveals an average improvement on the order 20 percent in estimating the moments distal to the force plate and no significant improvement in estimating moments proximal to the force plate. The new method is particularly advantageous in a combined video, force plate, and accelerometery sensing strategy. [S0148-0731(00)01904-X]
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August 2000
Technical Papers
A Well-Posed, Embedded Constraint Representation of Joint Moments From Kinesiological Measurements
Behzad Dariush,
Behzad Dariush
Honda R&D Americas, Inc., Fundamental Research Laboratories, 800 California St., Suite 300, Mountain View, CA 94041
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Hooshang Hemami,
Hooshang Hemami
Department of Electrical Engineering, The Ohio State University, 2015 Neil Ave., Columbus, OH 43210-1272
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Mohamad Parnianpour
Mohamad Parnianpour
Department of Industrial, Welding and Systems Engineering, The Ohio State University, 1971 Neil Ave., Columbus, OH 43210-1271
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Behzad Dariush
Honda R&D Americas, Inc., Fundamental Research Laboratories, 800 California St., Suite 300, Mountain View, CA 94041
Hooshang Hemami
Department of Electrical Engineering, The Ohio State University, 2015 Neil Ave., Columbus, OH 43210-1272
Mohamad Parnianpour
Department of Industrial, Welding and Systems Engineering, The Ohio State University, 1971 Neil Ave., Columbus, OH 43210-1271
Contributed by the Bioengineering Division for publication in the JOURNAL OF BIOMECHANICAL ENGINEERING. Manuscript received by the Bioengineering Division March 24, 1998; revised manuscript received January 11, 2000. Associate Technical Editor: M. L. Hull.
J Biomech Eng. Aug 2000, 122(4): 437-445 (9 pages)
Published Online: January 11, 2000
Article history
Received:
March 24, 1998
Revised:
January 11, 2000
Citation
Dariush, B., Hemami, H., and Parnianpour, M. (January 11, 2000). "A Well-Posed, Embedded Constraint Representation of Joint Moments From Kinesiological Measurements ." ASME. J Biomech Eng. August 2000; 122(4): 437–445. https://doi.org/10.1115/1.1286677
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