PART I

The Force-Motion Relationship

Describing
Motion
Photo reprinted from Marey, 1889.

X velocity-Time

Movement is Motion Motion is Movement

Laboratory Movement

Small Movement

Review of Math Review

Systeme Internationale = Metric System
Fundamental Units: mass in kg, linear distance in m,
angular distance in rad, time in s
All other physical measurements are derived from these
variables:
Force = N = kg*m / s2

Energy = J = kg*m2 / s2

Website for conversions

http://catcode.com/trig/trig08.html

More review of Math Review

Radian the angle created by the arc on a circle with the
length of the radius of the circle (~ 57.3 degrees)

Arc length = 1 radius

Math Review
Trigonometry sine, cosine, tangent, and inverse
functions
sin a = A/C, cos a= B/C, tan a= A/B

sin-1 A/C = a, cos-1 B/C = a,

tan-1 A/B = a

A
a
B

Math Application: important in signal

processing
Sine function continuous wave over angular position
+1

-1

180

360 degrees

Math Application: important in signal

processing
Cosine function continuous wave over angular position
+1

-1

Math Review
Website for sine and cosine waves
http://catcode.com/trig/trig08.html

Describing Motion = Kinematics

Kinematics describes the
Time Geometry of Motion
or the
Movement Pattern
during static or dynamic activity

Two Fundamental Movement Patterns

Translation Linear Movement displacement
from one point to another in either:
Straight lines rectilinear translation or
Curved lines curvilinear translation

Animals can do both but curvilinear motion more

common

Curvilinear Translation During Walking

Two Fundamental Movement Patterns

Rotation Angular Movement displacement
around an axis

Principle means of
animal motion

Translation Through Rotation

Animals translate by skillfully combining joint
rotations
A person stands up by
rotating the hip, knee, and
ankle joints
Animals rotate to translate
Animals are rotating
machines

Translation Related to Rotation

Linear displacement and
velocity related to the
angular kinematics:
s = r
v = r
Calculate Arc Length when radius = 1 cm and = 90

Four Kinematic Variables or Motion

Descriptors
Position location within the environment
Displacement the change in position with movement
Velocity rate of change of position
Acceleration rate of change of velocity

(All variables are vectors)

Biomechanics Laboratories

Position in a Linear 2D Reference Frame

Heel Strike:
Shoulder=1.01,1.34
Knee

= 1.11, 0.47

Toe Off:
Shoulder=1.87,1.35
Knee

= 1.78, 0.44

Position in an Angular Reference Frame

Segment Angles
Angle between a body
segment and the right
horizontal from distal end of
segment
Trunk = 85 or 1.48 rad
Arm = 95 or 1.66 rad

Position in an Angular Reference Frame

Joint Angles
Angle between two body
segments
Shoulder = 20 or 0.35 rad
Knee = ???

Generate Angular Position Data

1) Identify location of skeletal joints
2) Define joint angles
3) Calculate segment angles
4) Combine segment angles to calculate joint angles

Position in an Angular Reference Frame

Acromion
1.10, 1.34
Greater Trochanter
1.05, 0.8
Lateral Knee
1.18, 0.5
Lateral Malleolus
1.23, 0.1
Heel
1.20, 0.02
5th Met
1.35, 0.08

Position in an Angular Reference Frame

Joint angular position for
obese and lean subjects
while walking
Obese less flexed at hip
and knee and less
dorsiflexed at ankle
Obese walk in a more
erect pattern

Displacement
Displacement = difference between final and initial
positions
Linear displacement (d) = Pf Pi (m)
Angular displacement () = f - i ( or rad)
Displacement does not necessarily equal distance (the
length of the path traveled)

Displacement in a Linear Reference Frame

Horizontal displacement:
heel strike to toe off
Shoulder = 0.86 m
Met Head = 0.09 m
Total displ. Shoulder =
1.87,1.35
-1.01,1.34
0.86,0.01

Displacement in a Linear Reference Frame

Magnitude Result. Displ. = (Hor disp2 + Vert disp2)1/2
Resultant displacement
between heel strike
and toe off for:
Shoulder = 0.87 m
Met head = 0.10 m

Linear Displacement During Walking

Step length forward displacement of one foot
during swing phase
Stride length combined forward displacement of
both feet during left and right swing phases

Linear Displacement During Walking

Step length mean value ~ 0.75 m for healthy
adults, less for shorter, older, ill, or injured people
Left and right step length symmetry
Stride length mean value ~1.5 m for healthy adults,
less for shorter, older, ill, or injured people

Velocity
Velocity = rate of change of position
= amount of displacement per unit time
rate of change = calculus concept of the
derivative or slope
Linear velocity (v) = (Pf Pi) / time (m/s)
Angular velocity () = (f - i) / time (/s or rad/s)

Johnson vs Lewis
100m, Seoul 1988

Gross body
movement

More information with shorter measurement intervals

Newsweek, 7-29-96

Average vs. Instantaneous Velocity

Velocity
Velocity = rate of change of position
= amount of displacement per unit time
rate of change = calculus concept of the
derivative or slope
Linear velocity (v) = (Pf Pi) / time (m/s)
Angular velocity () = (f - i) / time (/s or rad/s)

Simple Finite Difference Technique

Velocity: displacement / time

vector
magnitude: how fast
direction: specification of which way

This is motion

Cyclic Movement Angular Kinematics

Angular Position

2.00

0.00

Time

Positive & negative

slopes on position
curve have positive
and negative phases
on the velocity
curve

Cyclic Movement Angular Kinematics

Angular Position

2.00

0.00

Increasing +

Time

Positive & negative

slopes on position
curve have positive
and negative phases
on the velocity
curve

Cyclic Movement Angular Kinematics

Angular Position

2.00

0.00

Decreasing +
Increasing +

Time

Positive & negative

slopes on position
curve have positive
and negative phases
on the velocity
curve

Cyclic Movement Angular Kinematics

Angular Position

2.00

0.00

Increasing Decreasing +
Increasing +

Time

Positive & negative

slopes on position
curve have positive
and negative phases
on the velocity
curve

Cyclic Movement Angular Kinematics

Angular Position

2.00

0.00

Increasing Decreasing +
Increasing +
Decreasing -

Time

Positive & negative

slopes on position
curve have positive
and negative phases
on the velocity
curve

Cyclic Movement Angular Kinematics

Angular Position

2.00

0.00

Time

Angular Velocity

2.00

0.00

-2.00

Time

Positive & negative

slopes on position
curve have positive
and negative phases
on the velocity
curve

Relationship Between Position and Velocity

Knee angular position
& velocity curves
during the stance
phase of running

Knee Position/Velocity in Walking

Knee Angular Position

P o sitio n (d eg ree s)
F lexio n is N eg ative

10.0

contact

Toe off

0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00

0.10

0.20

0.30

0.40

0.50

Time (s)

0.60

0.70

0.80
Knee Position

Knee Position/Velocity in Walking

Knee Angular Position and Velocity

P o sitio n (d eg ree s)
F lexio n is N eg ative

10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00

Identify local minima and maxima: velocity = ??

0.10

0.20

0.30

0.40

0.50

Time (s)

0.60

0.70

0.80
Knee Position

Knee Position/Velocity in Walking

Knee Angular Position and Velocity

P o sitio n (d eg ree s)
F lexio n is N eg ative

10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00

What is the sign of the velocity between local min & max?
0.10

0.20

0.30

0.40

0.50

Time (s)

0.60

0.70

0.80
Knee Position

Knee Position/Velocity in Walking

Knee Angular Position and Velocity

P ositio n (d eg rees)
F lexio n is N eg ative

10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00

Identify inflection points : ?

0.10

0.20

0.30

0.40

0.50

Time (s)

0.60

0.70

0.80
Knee Position

Knee Position/Velocity in Walking

Knee Angular Position and Velocity

P ositio n (d eg rees)
F lexio n is N eg ative

10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00

Identify inflection : local minima & maxima on velocity

0.10

0.20

0.30

0.40

0.50

Time (s)

0.60

0.70

0.80
Knee Position

Knee Position/Velocity in Walking

10.0

600

0.0

500
400

-10.0

300

-20.0

200

-30.0

100

-40.0

0
-100

-50.0

-200

-60.0
-70.0
0.00

V e loc ity (d eg rees /s )

P o sitio n (d eg ree s)
F lexio n is N eg ative

Knee Angular Position and Velocity

-300

Identify local minima and maxima

-400
0.10

0.20

0.30

0.40

0.50

Time (s)

0.60

0.70

0.80

Knee Position
Knee Velocity

Knee Position/Velocity in Walking

10.0

600

0.0

500
400

-10.0

300

-20.0

200

-30.0

100

-40.0

0
-100

-50.0

-200

-60.0
-70.0
0.00

V elo city (d eg rees/s)

P ositio n (d eg rees)
F lexio n is N eg ative

Knee Angular Position and Velocity

-300

Identify inflection points

-400
0.10

0.20

0.30

0.40

0.50

Time (s)

0.60

0.70

0.80

Knee Position
Knee Velocity

Second Order Finite Differences

Use Project to demonstrate need.

Acceleration
Acceleration = rate of change of velocity
= change in velocity per unit time

change in velocity = change in motion

Acceleration
Acceleration = rate of change of velocity
= change in velocity per unit time
rate of change = calculus concept of the
derivative or slope

Linear acceleration (a) = (Vf Vi) / time (m/s2)

Angular acceleration () = (f - i) / time
(/s2 or rad/s2)

Acceleration
Acceleration due to gravity = g = 9.81 m /s2
Pos (m) or Vel (m/s)

0
-20
-40
-60
-80
-100
-120
-140

Position
Velocity
Time (s)

Describe shape of:

Position curve
Velocity curve
Acceleration?

Acceleration
Acceleration due to gravity = g = 9.81 m /s2
Pos (m) or Vel (m/s)

0
-20
-40
-60
-80
-100
-120
-140

Position
Velocity
Time (s)

Describe shape of:

Position curve
Velocity curve
Acceleration

Velocity Acceleration Relation

Angular Velocity

2.00

0.00

-2.00

Time

Based on definition
of acceleration,
sketch the angular
acceleration curve
for this velocity
curve

Velocity Acceleration Relation

Angular Velocity

2.00

0.00

Angular Acceleration

-2.00

Time

2.00

0.00

-2.00

Time

Acceleration curve
shows the slope of
the velocity curve,
including positive
and negative
directions

Acceleration is our link to kinetics

Important to understand the concept of
positive and negative acceleration

Acceleration is our link to kinetics

Important to understand the concept of
positive and negative acceleration
Parabolic motion: horizontal & vertical components
release velocity
Peak velocity
contact velocity

Wayne Wright
Human Cannonball

Acceleration is our link to kinetics

Important to understand the concept of
positive and negative acceleration
Parabolic motion: horizontal & vertical components
release velocity
Peak velocity
contact velocity

Gymnast leaves ground at v v = 3m/s and v h = 4.2

m/s. Calculate velocities 0.25 seconds later.
Gymnast is at peak height (v v = 0 m/s). How fast is
she traveling 0.25 m (vertical) later? What is v h?
Gymnast is falling at 1.5 m/s. How fast is she
traveling 0.25s later? What about v h?

Constant Linear Velocity

Acceleration = 0
what is force?

Calculating final position of body

Rearrange equation of velocity
Sprinter is 70 from start. Horizontal velocity of
11.5 m/s. Maintains for 1.7s. How far from start
line?

So lets imagine the force.

09/02/07: Labor Day occasion to commemorate lost railroad workers By Bill
Kemp Archivist/Librarian, McLean County Museum of History Advertisement
BLOOMINGTON -- On Feb. 25, 1921, "death came fantastic with horror" when
a storage tank explosion tossed Harold Downeys whirling, lifeless body 200 feet
into the air. A Chicago & Alton Railroad boilermaker, Downeys fatal accident
reminds us of the untold number of railroad workers who lost their lives toiling in
one of the more vital and dangerous industries in U.S. history.
On that Friday afternoon, Downey, who worked at the C&A shops on
Bloomingtons west side, was sent to repair a leaking gasoline storage tank. When
he entered through a manhole at the top, his lighted torch ignited the escaping
fumes.
"His body was propelled upwards with a force, the intensity of which can only be
imagined," the Pantagraph reported.

Forensic Biomechanics

Complete the project available from the

website.

General Kinematic Procedures

Linear data:
use position of body segments for descriptive stride
characteristics (how far, high, etc)
use position, velocity, and acceleration for complex
inverse dynamics (F = ma)
Angular data:
use joint angular position for direct comparisons
use joint angular velocity for joint power (P= T * )

General Kinematic Procedures

Other places: You name it, people use it.
Pelvic tilt
Hand displacement in reaching
Trunk vibrations in driving
Tibia accelerations in running (shock)
etc etc etc

Orthotic Effects on Kinematics

Kinematic Coordination in Running

Coordination
between knee
and subtalar
motions

Kinematic Coordination in Running

Ankle
Position:
Soft

Use angular velocity to compare

technique

Use angular velocity to compare

technique

Use angular velocity to compare

technique

Relation Between Kinematics & Kinetics

Kinetics causes kinematics
Force produces acceleration which
ultimately causes a change in position
Kinematics causes kinetics ?
Position causes force??
Is this possible???

482 Advanced Biomechanics

How many plan to enroll in this class for Spring
2008?
Early registration is next week, do it at that time.
Warning: if low enrollment, class will be cancelled,
so sign up for an alternative class too.

Error in Kinematic Data

Calculations of derivatives
introduces noise into the
signal
Velocity has some error
Acceleration has more
error

Error From Data Acquisition

Digitizing process
introduces error in
position data
Markers move or vibrate
relative to the joint center
System misses the marker
Markers are covered

Time vs Frequency
Human movement low
frequency
Digitizing error high
frequency
Derivatives increase high
frequency error
Pos = sin 2
Vel = 2 cos 2

Fourier Analysis Frequency Content

Single frequency

Two frequencies

Many frequencies

Digital Filters to Remove Error

Low pass filter allows low
frequency signal to pass but
filters out high frequency
error
Cut off frequency ~ 5-15 Hz
Optimal filter techniques
Fourier Analysis

Optimal Filter
Finds point beyond which
filtering does not
change result

Digital Filter Demonstration

(Show digital filter program application)
Bench Press: filter the angular velocity and
acceleration curves

80% 1RM BP, Narrow vs Wide Grip

Filtered Position Good Acceleration

Filter position data to
produce accurate velocity
and acceleration data
We filter the linear
horizontal & vertical
position vs time data

Signal Processing
Data Filtering or smoothing vs. Curve fitting
90

70

Force by Contraction Velocity

60

y = 106.02x - 108.53
R2 = 0.9502

50
40
1.50

1.60

1.70

Height

1.80

1.90

Force (N)

Mass

80

120
100
80
60
40
20
0

y = 991.57x2 - 545.25x + 101.45

R2 = 0.9871

0.1

0.2
Velocity (mm/s)

0.3

0.4

Signal Processing
Complex and detailed mathematical topic
We provided only the slightest introduction

Summary Kinematics
Kinematics describes
the movement pattern
in linear and angular
reference frames
Kinematics is the
outcome of Kinetics
(the result not the
cause)