Angular Kinematics - University of Ottawa角运动学-渥太华大学.pptVIP

Biomechanics Lab, University of Ottawa Angular Kinematics D. Gordon E. Robertson, PhD, FCSB School of Human Kinetics University of Ottawa Angular KinematicsDifferences vs. Linear Kinematics Three acceptable SI units of measure revolutions (abbreviated r) degrees (deg or o, 360o = 1 r) radians (rad, 2 p rad = 1 r, 1 rad ≈ 57.3 deg) Angles are discontinuous after one cycle Common to use both absolute and relative frames of reference In three dimensions angular displacements are not vectors because they do not add commutatively (i.e., a + b ≠ b + a) Absolute or Segment AnglesUses Newtonian or inertial frame of reference Used to define angles of segments Frame of reference is stationary with respect to the ground, i.e., fixed, not moving In two-dimensional analyses, zero is a right, horizontal axis from the proximal end Positive direction follows right-hand rule Magnitudes range from 0 to 360 or 0 to +/–180 (preferably 0 to +/–180) deg Angle of Foot Angle of Leg Relative or Joint AnglesUses Cardinal or anatomical frame of reference Used to define angles of joints, therefore easy to visualize and functional Requires three or four markers or two absolute angles Frame of reference is nonstationary, i.e., can be moving “Origin” is arbitrary depends on system used, i.e., zero can mean “neutral” position (medical) or closed joint (biomechanical) Angle of Foot Angle of Knee Absolute vs. Relative knee angle = (thigh angle – leg angle) –180 = –60–(–120) – 180 = –120 Joint Angles in 2D or 3D q = cos–1[(a.b)/ab] a b are vectors representing two segments ab = product of segment lengths a?b= dot product Angular KinematicsFinite Difference Calculus Assuming the data have been smoothed, finite differences may be taken to determine velocity and acceleration. I.e., Angular velocity omegai = wi = (qi+1 – qi-1) / (2 Dt) where Dt = time between adjacent samples Angular acceleration: alphai = ai = (wi+1 – wi-1) / Dt = (qi+2 –2qi + qi-2) / 4(Dt)2 or ai = (qi+1 –2qi