D MANOJ KUMAR

BT19M025

bt19m025@smail.iitm.ac.in

AM5010 Biomechanics – ASSIGNMENT -4

1) In the OpenSim tutorial sample data, modify THREE anthropometric data of the lower
extremities by 30% of its original values, and repeat the analysis of inverse kinematics and
inverse dynamics again. Interpret the differences in the results.

Inverse Kinematics

Inverse dynamics
After 30 percent modification of anthropometry

data Inverse kinematics

Inverse dynamics
2) Kinematics

1) calculate and plot the hip, knee, and ankle flexion angles as a function of time.

2) Label when heel strike and toe off occur on the three plots you just created.

3) Differentiate your angles for the foot, shank, thigh, and HAT to obtain the appropriate
angular velocities and accelerations. Use the following formulas to conduct this numerical
differentiation. The camera samples at 120 Hz. You don’t need to find the velocities and
accelerations for the first and last data points.

for i=2:1:170
diff_foot(i) = (angle_foot(i+1)-angle_foot(i-1))*60;
Double_diff_foot(i) = (angle_foot(i-1)-
(2*angle_foot(i))+angle_foot(i+1))*14400;

diff_shank(i) = (angle_tibia(i+1)-angle_tibia(i-1))*60;
Double_diff_shank(i) = (angle_tibia(i-1)-
(2*angle_tibia(i))+angle_tibia(i+1))*14400;

diff_thigh(i) = (angle_femur(i+1)-angle_femur(i-1))*60;
Double_diff_thigh(i) = (angle_femur(i-1)-
(2*angle_foot(i))+angle_femur(i+1))*14400;

diff_HAT(i) = (angle_HAT(i+1)-angle_HAT(i-1))*60;
Double_diff_HAT(i) = (angle_HAT(i-1)-
(2*angle_HAT(i))+angle_HAT(i+1))*14400;

end

4) Numerically differentiate your knee and ankle position data to obtain the appropriate
linear velocities and accelerations for these markers. You don’t need to find the velocities and
accelerations for the first and last data points.
for i=2:1:170
diff_linear_knee_x(i)=(knee_center(i+1)-knee_center(i-1))*60;
Double_diff_linear_knee_x(i)=(knee_center(i-1)-
(2*knee_center(i))+knee_center(i+1))*14400;

diff_linear_knee_y(i)=(AM5010a4gaitdataS2(i+1,8)-AM5010a4gaitdataS2(i-
1,8))*60;
Double_diff_linear_knee_y(i)=(AM5010a4gaitdataS2(i-1,8)-
(2*AM5010a4gaitdataS2(i,8))+AM5010a4gaitdataS2(i+1,8))*14400;

diff_linear_knee_z(i)=(AM5010a4gaitdataS2(i+1,9)-AM5010a4gaitdataS2(i-
1,9))*60;
Double_diff_linear_knee_z(i)=(AM5010a4gaitdataS2(i-1,9)-
(2*AM5010a4gaitdataS2(i,9))+AM5010a4gaitdataS2(i+1,9))*14400;

diff_linear_ankle_x(i)=(ankle_center(i+1)-ankle_center(i-1))*60;
Double_diff_linear_ankle_x(i)=(ankle_center(i-1)-
(2*ankle_center(i))+ankle_center(i+1))*14400;

diff_linear_ankle_y(i)=(AM5010a4gaitdataS2(i+1,11)-
AM5010a4gaitdataS2(i-1,11))*60;
Double_diff_linear_ankle_y(i)=(AM5010a4gaitdataS2(i-1,11)-
(2*AM5010a4gaitdataS2(i,11))+AM5010a4gaitdataS2(i+1,11))*14400;

diff_linear_ankle_z(i)=(AM5010a4gaitdataS2(i+1,12)-
AM5010a4gaitdataS2(i-1,12))*60;
Double_diff_linear_ankle_z(i)=(AM5010a4gaitdataS2(i-1,12)-
(2*AM5010a4gaitdataS2(i,12))+AM5010a4gaitdataS2(i+1,12))*14400;
end
Kinetics

5) Calculate the mass of the segment, the length of the segment, the position of the center
of mass (COM) in the segment, and the moment of inertia about the center of mass for the
foot, shank (tibia and fibula), thigh (femur), and HAT

Mass of the Length of the Position of Moment of

segment segment COM Inertia

Foot 0.96715 0.0964 0.0482 0.1398

Shank 3.10155 0.43114 0.1867 1.1307
Thigh 6.67 0.4294 0.1859 1.283
HAT 45.2226 0.8237 0.5156 11.133

6) Please plot the vertical and horizontal ground reaction forces during the stance phase
as a percentage of body weight

120

100

80

horizontal force (% of body

60 force)
vertical forceas (% of body
force)
40

20

0
0 10 20 30 40 50 60 70 80 90 100
7. Draw a free body diagram for the foot, shank, thigh, and HAT segments. You may
ignore the mass and moment of inertia of the foot, as it is sometimes assumed that the mass
of the foot is negligible when compared to the mass of shank.
8. Please derive the equations necessary to solve for the torques about the hip, knee, and
ankle joints during the stance phase of gait for this model. Again, for simplicity, you may
ignore the mass of the foot. Some things to consider
9. For the given data, please use the equations you just derived in problem 8 to calculate
the torques for the hip, knee, and ankle joints during the stance phase of gait.

Discussion

10. You used anthropometric data to determine the lengths of the segments in this
assignment. Suppose some one suggests that you could just use motion data to determine
segment length. He/She says that the magnitude of the distance between any 2 markers in
the 6-marker convention could give you the appropriate segment length. To test their idea,
plot the magnitude of the vector between the hip and knee for all of the time points in this
study. Comment on the behavior of the curve you just plotted and compare this magnitude
to the length of the thigh determined in problem 5. Comment on some possible
explanations for the observed differences.

Calculated segment length of the thigh = 0.4294 m

Vector segment length of the thigh as a function of time.

When the vector segment length is plotted it is varying with time. So the method of finding
the segmental length from the magnitude of difference of the vectors should not be done.

11. In problem 9, you were asked to normalize the joint torques by body mass. Why is it
important to perform this normalization instead of just reporting a raw value in Newton-
meters?

Normalization by body mass is important so that joint torques becomes independent of the
body mass.

12. Which joint moment has the greatest magnitude (hip, knee, or ankle)? Could you
suggest an explanation as to why this is the case?

Hip joint has the greatest magnitude of joint moment.

The two main reasons are high segmental weight of the high and reaction forces acting on the
lower part of the femur bone comprises of shank and foot.
13. Look at the shapes of the curves for the hip and knee torques in early stance. Please
suggest a few explanations for what you observe and propose some possible solutions to
correct the problem. (Hints: consider your results for problems 6 and 10. Also, what type
of marker and force plate data are you working with?).

The ankle joint exhibits a brief net dorsiflexor moment during the initial loading phase of
stance as the foot is lowered to the ground. A transition to a net ankle plantarflexion moment
first occurs through eccentric plantarflexion actions to control the leg’s rotation over the foot.
This is followed by a continuation of a net plantarflexion moment as the plantar flexors
concentrically advance the limb into the swing phase.