A simulation procedure for human motion studies

Experimental Simulation of an Airborne Movement: Applicability of the Body Segment Parameter Estimation Methods

The purpose of this study was twofold: (a) to investigate the effect of the method of body segment parameter (BSP) estimation on the accuracy of the experimental simulation of a complex airborne movement; and (b) to assess the applicability of selected BSP estimation methods in the experimental simulation. It was hypothesized that different BSP estimation methods would provide different simulation results. A sensitivity analysis was performed to identify the BSP items and segments responsible for the inter-method differences in the simulation accuracy. The applicability of the estimation methods was assessed based on the simulation results and the number of anthropometric parameters required. Ten BSP estimation methods classified into 3 groups (4 cadaver-based, 4 gamma mass scanning-based, and 2 geometric) were employed in a series of experimental simulations based on 9 double-somersault-with-full-twist H-bar dismounts performed by 3 male college gymnasts. The simulated body orientation angles were compared with the corresponding observed orientation angles in computing the simulation errors. The inclination and twist simulation errors revealed significant (p < .05) differences among the BSP estimation groups and methods. It was concluded that: (a) the method of BSP estimation significantly affected the simulation accuracy, and more individualized BSP estimation methods generally provided more accurate simulation results; (b) the mass items, and the lower leg and thorax/ abdomen were more responsible for the intermethod differences in the simulation accuracy than other BSP items and segments, respectively; (c) the ratio methods and the simple regression methods were preferable in simulation of the somersaulting motion due to the fewer anthropometric parameters required; (d) the geometric models and the cadaver-based stepwise regression method were superior to the other methods in the simulation of the complex airborne motion with twist.

Estimation of low back loading on nurses during patient handling tasks: the importance of bedside reaction force measurement

By means of video recording, measurement of ground reaction forces, and biomechanical modeling of the lower part of the body, the low back loading of nurses during patient handling can be estimated. In this study the force exerted on the bedside by a nurse during different patient handling tasks was measured, and the contribution to the moment at the L4/L5 joint was investigated. It is shown that the bedside reaction moment contributes significantly to the total moment, and could lead to substantial over-estimation if not appropriately included in the calculations, when using an upward biomechanical model for estimating the spinal load of nurses during patient handling tasks.

Knee movement strategies differentiate expert from novice workers in asymmetrical manual materials handling

One way to generate hypotheses on appropriate handling principles is to compare the strategies of highly skilled workers (experts) with those of novice workers (novices). This study was conducted to determine whether experts differ from novices in their handling strategies and to determine the effects of these differences in joint motions and net reaction moments at the trunk (L5/S1) and knees. Six experts and five novices were compared transferring two loads (12 and 22 kg) from four different initial low positions to a standardized low position on a trolley. The external forces were obtained from two AMTI force platforms, and two 16 mm Locam cameras coupled with two mirrors were used to obtain the three-dimensional kinematic data. An inverse dynamic analysis was performed on each segment and the net reaction moments were evaluated at L5/S1 and the knees; trunk posture, knee flexion angles and feet spacings were also calculated. Results showed that both groups minimized trunk asymmetries of posture and efforts; however, the experts were characterized by reduced knee flexion (31 degrees vs 53 degrees) and total knee excursion (20 degrees vs 38 degrees), increased flexion moments (72 vs 58 Nm) but reduced extension moments (4 vs 26 Nm) and valgus moments (30 vs 54 Nm). The experts' strategies appear safer overall because they reduce trunk asymmetry, asymmetrical efforts on the knee and stress on the femoropatellar joint. Moreover, these strategies present a potential for reduced mechanical energy expenditure due to lower knee excursions and increased knee stability due to reduced knee flexion.

Effects of symmetry and load absorption of a falling load on 3D trunk muscular moments

Some epidemiological data have suggested that many physical causes of low back pain such as bending and twisting were, in fact, sudden maximal efforts incidentally carried out at the moment of accident. Sudden loading conditions may be encountered in several circumstances, one of them being the recuperation of a falling load. Such conditions are more likely to occur in conditions of trunk asymmetry. The objective of this study was to determine spinal loadings associated with the reception of a falling box symmetrically and asymmetrically for two mechanisms of load absorption, one limited to the elbows and the other including full absorption with the elbows and lower limbs. It was hypothesized that asymmetrical receptions would be more strenuous for the spine; it was further hypothesized that the full absorption to decelerate the load might be more efficient in reducing the strain in the trunk muscular moments. Nine students in physical education with limited experience in manual materials handling were the subjects of the study. The tasks consisted of receiving a 6.6 kg load falling from a height of 50 cm above the flexed forearms when in a standing position. The subjects were tested with two AMTI force plates and two Locam cameras coupled with two mirrors; dynamic 3D multi-segment models were constructed and the net muscular moments as well as the angular velocities of the trunk relative to pelvis were determined about the three orthogonal axes of the trunk at L5/S1, in twisting, lateral bending, and flexion/extension. The dependent variables included maximal moments, maximal rates of loading for these moments, and the integration of these moments. Statistical analyses were performed to test the main effects of symmetry and absorption and their interaction. The results showed that asymmetrical conditions impose supplementary muscular exertions for trunk muscles, especially the trunk extensors and lateral flexors. Contrary to the proposed hypothesis, full absorption as used in the present study was a condition leading to considerably larger muscular exertions, especially for the loading rates. Thus it was concluded that the process of training for load absorption is essential to effectively decrease the risks of injuries. This factor would merit full consideration in future studies.

The influence of dynamic factors on triaxial net muscular moments at the L5/S1 joint during asymmetrical lifting and lowering

Asymmetrical lifting and lowering are predominant activities in the workplace. Mechanical causes are suggested for many back injuries and the dynamic conditions within which spine loading occurs are related to spine loading increase. More data on tridimensional biomechanical lumbar spine loading during asymmetrical lifting and lowering are needed. A tridimensional dynamic multisegment model was developed to compute spinal loading for asymmetrical box-handling situations. The tridimensional positions of the anatomical markers were generated by a direct linear transformation algorithm adapted for the processing of data from two real and two virtual views (mirrors). Two force platforms measured the external forces. Five male subjects performed three variations (slow, fast and accelerated) of asymmetric lifting and two variations (slow and fast) of asymmetric lowering. The torsional, extension/flexion and lateral bending net muscular moments at the L5/S1 joint were computed and peak values selected for statistical analysis. For the lifting task, the fast and accelerated conditions showed significant increases over the slow condition for torsion, extension/flexion and lateral-bending moments. The accelerated condition also showed significant increases over the fast condition for extension. A comparison between lifting and lowering tasks showed equivalent loadings for torsion and extension. The moments were compared to average maximal values measured on equivalent male subject populations by isokinetic dynamometry. This showed torsional and extension values of 30 and 83% of the maximal possible subject capacity, respectively. These results demonstrated that dynamic factors do influence the load on the spine and highlighted the influence of both lifting and lowering on the loading of the spine. This suggested that for a more complete analysis of asymmetrical handling, the maximal velocity and acceleration produced during lifting should be included.

The simulation of aerial movement--III. The determination of the angular momentum of the human body

A method is presented for determining the angular momentum of the human body about its mass centre for general three-dimensional movements. The body is modelled as an 11 segment link system with 17 rotational degrees of freedom and the angular momentum of the body is derived as a sum of 12 terms, each of which is a vector function of just one angular velocity. This partitioning of the angular momentum vector gives the contribution due to the relative segmental movement at each joint rather than the usual contribution of each segment. A method of normalizing the angular momentum is introduced to enable the comparison of rotational movements which have different flight times and are performed by athletes with differing inertia parameters. Angular momentum estimates were calculated during the flight phases of nine twisting somersaults performed on trampoline. Errors in film digitization made large contributions to the angular momentum error estimates. For individual angular momentum estimates the relative error is estimated to be about 10% whereas for mean angular momentum estimates the relative error is estimated to be about 1%.

The simulation of aerial movement--IV. A computer simulation model

A computer simulation model of human airborne movement is described. The body is modelled as 11 rigid linked segments with 17 degrees of freedom which are chosen with a view to modelling twisting somersaults. The accuracy of the model is evaluated by comparing the simulation values of the angles describing somersault, tilt and twist with the corresponding values obtained from film data of nine twisting somersaults. The maximum deviations between simulation and film are found to be 0.04 revolutions for somersault, seven degrees for tilt and 0.12 revolutions for twist. It is shown that anthropometric measurement errors, from which segmental inertia parameters are calculated, have a small effect on a simulation, whereas film digitization errors can account for a substantial part of the deviation between simulation and film values.

The simulation of aerial movement--I. The determination of orientation angles from film data

Quantitative mechanical analyses of human movement require the time histories of the angles which specify body configuration and orientation. When these angles are obtained from a filmed performance they may be used to evaluate the accuracy of a simulation model. This paper presents a method of determining orientation angles and their rates of change from film data. The stages used comprise the synchronization of data obtained from two camera views, the determination of three-dimensional coordinates of joint centres, the calculation of an angle from a sequence of sine and cosine values and the curve fitting of angles using quintic splines. For each stage, other possible approaches are discussed. Original procedures are presented for obtaining individual error estimates of both the film data and the calculated angles to permit the automatic fitting of quintic splines for interpolation and differentiation and for deriving the time history of an angle as a continuous function from a sequence of sine and cosine values. The method is applied to a forward somersault with 1 1/2 twists and the average error estimate of 17 orientation angles is obtained as 2.1 degrees.

A general Newtonian simulation of an n-segment open chain model

This paper presents a set of general Newtonian equations which govern the simulation of movement of a body represented by n open chain links. The input for the simulation consisted of the joint moment of force histories, lengths, masses and moments of inertia, the initial absolute angular displacements and velocities and, for the fixed or constrained axis of the nth segment, the acceleration history. Angular accelerations were then determined by solving n linear equations simultaneously, and angular velocities and displacements determined by integrating forwards. The final output was in the form of a graphical display of the linked figure. Applications of the simulation were demonstrated using three-segment representations of movements of the upper and lower extremities and a five-segment representation of a jump. Good agreement was achieved between the displayed angular displacements for the original and simulated movements. The potential for varying the input data has been examined and the implications of anticipating the effects of changed torques, inertial characteristics including attached prosthetic or sports implements and/or the initial conditions for a movement are discussed.

Response of a two-dimensional dynamic model of the human knee to the externally applied forces and moments

This paper is concerned with response of a two-dimensional dynamic model of the human knee to the externally applied forces and moments. The profiles of the articulating surfaces of a normal knee joint are determined from X-ray films and they are represented by polynomials. Ligaments of the joint are modelled as nonlinear elastic springs of realistic stiffness properties. Nonlinear equations of motion, coupled with nonlinear constraint conditions, are solved numerically. Time derivatives are approximated by Newmark difference formulae and the resulting nonlinear algebraic equations are solved employing the Newton-Raphson iteration scheme. Several dynamic loads (force and moment) are applied to the tibia and subsequent motion is investigated. Results for the ligament and contact forces, contact point locations between femur and tibia and the corresponding dynamic orientation of tibia with respect to femur are presented.