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TECHNICAL NOTE
Abstract-Kinetic analyses (joint moments, powers and work) of the lower limbs were performed during
normal walking to determine what further information can be gained from a three-dimensional model over
planar models. it was to be determined whether characteristic moment and power profiles exist in the frontal
and transverse planes across subjects and how much work was performed in these planes. Kinetic profiles
from nine subjects were derived using a threedimensional inverse dynamics model of the lower limbs and
power profiles were then calculated by a dot product of the angular velocities and joint moments resolved in
a global reference system. Characteristic joint moment profiles across subjects were found for the hip, knee
and ankle joints in all planes except for the ankle frontal moment. As expected, the major portion of work
was performed in the plane of progression since the goal of locomotion is to support the body against gravity
while generating movements which propel the body forward. However, the results also showed that
substantial work was done in the frontal plane by the hip during walking (23% of the total work at that
joint). The characteristic joint profiles suggest defined motor patterns and functional roles in the frontal and
transverse planes. Kinetic analysis in three dimensions is necessary particularly if the hip joint is being
examined as a substantial amount of work was done in the frontal plane of the hip to control the pelvis and
trunk against gravitational forces.
753
154 Technical Note
0.76
f
Frontal a
0.00
f -0.550 Hi-T
I
0 20 40 50 DO 100
2.1
5
u
0.0
t 1
0 20 40- 5; DO
' 100
0 20 40 50 50 100
X of Strld, X of Stride
Fig. 1. Hip joint moments and joint powers normalized to body mass in the frontal, transverse and sagittal
planes. The dashed line indicates one standard deviation above and below the mean. Consistent hip moment
and power profiles were found in all planes except for the transverse joint power.
Technical Note
Table 1. Means and standard deviations of the work (J kg- ‘) over one stride
Ankle 0.42 0.10 0.015 0.014 0.005 0.006 0.44 0.12 0.56
(0.09)* (0.05) (0.008) (0.007) (0.003) (0.002)
Knee 0.11 0.35 0.035 0.026 0.008 0.015 0.15 0.39 0.54
(0.052) (0.094) (0.013) (0.012) (0.004) (0.01)
Hip 0.48 0.14 0.092 0.10 0.009 0.022 0.58 0.26 0.84
(0.12) (0.053) (0.03) (0.05) (0.005) (0.013)
Frontal
‘;fj(2-F 2d.
-030
I
0 20 40 00 90 100
Transverse
1.2 ‘,U,O-s
,,’‘: s
k Sagittrl
: : u
8 0 ‘8
0.0 -
X of Slrldr X of Strldr
Fig. 2. Knee joint moments and joint powers normalized to body mass in the frontal, transverse and sagittal
planes. The dashed line indicates one standard deviation above and below the mean. The dominant power
profile was in the sagittal plane.
156 Technical Note
pelvis during weight acceptance while the HZF generation (K4-S - 0.14 +_0.3 J kg-‘) to decelerate the swinging leg
(0.031 k 0.02 J kg-‘) and H3-F generation (0.057 [Fig. 2(f)]. During the stance phase, a stabilizing knee abduc-
+ 0.02 J kg-‘) raised the pelvis [Fig. l(d)]. In the transverse tor moment in the frontal plane (via the iliotibial tract, tensor
plane, the hip moment profiles were consistent across sub- fascia latae, and passive forces from the ligaments) countered
jects with an external rotator moment in the first half of the adductor stress from the upper body weight passing
stance and an internal rotator moment in the second half of medial to the knee [Fig. 2(a)]. The knee angular velocity in
stance [Fig. l(b)]. A small absorption burst (Hl-T) during the frontal plane was very low which resulted in power
weight acceptance was a result of the external rotators which phases which were less than 0.030 J kg-‘. The transverse
decelerated the forward rotation of the pelvis [Fig. l(e)]. plane knee profile was characterized by an external rotator
At the knee most of the work was done in the sagittal plane moment during the first half of stance and an internal rotator
(85% of the total knee work); however, a small amount (11%) moment during the second half [Fig. 2(b)]. These moments
was done in the frontal plane (Table 1).The KO-S generation resulted from the knee ligaments which reacted to the
(0.039 +_ 0.03 J kg- ‘) resulted from a small flexor action at transverse rotation generated by the active hip moments. A
heel contact to ensure that the knee was in a flexed position small but consistent power absorption (Kl-T) occurred
to absorb the impact force. The knee extensors controlled during weight acceptance as a result of the passive resistance
the knee flexion (Kl-S absorption: - 0.04 f 0.3 Jkg-‘) of the knee ligaments to the internal rotation motion which
and then extended the knee (K2-S knee generation: 0.31 accompanies knee flexion [Fig. 2(e)].
+ 0.3 Jkg-I). A K3-S absorption phase ( - 0.13 At the ankle, the work was done mainly in the sagittal plane
+_0.06 J kg-‘) resulted from the knee extensors to control (93%). The plantarflexors eccentrically controlled the for-
the collapsing knee while the knee flexors absorbed energy ward rotation of the leg over the foot (Al-S absorption:
ODO
3d
-0.15 1 , I , I , -0.2s -I
I f
0 20 40 80 80 100 0 20 40 80 80 100
0.010 ,
0.000
-0.050 ,
-3
0 20 40 10 80 COO 0 20 40 00 80 100
8.0 , AZ-S
2.00 -9
,",
-0.50 - 3C.
I 1
20 40 60 10 100
;, 2b 40' 80' io 160 0
% of Strld,
X of Strldr
Fig. 3. Ankle joint moments and joint powers normalized to body mass in the frontal, transverse and
sagittal planes. The dashed line indicates one standard deviation above and below the mean. Large
variability was found in the frontal moment and frontal and transverse powers.
Technical Note ‘?i’
- 0.096 & 0.04 J kg- ‘) and then concentrically generated a trochanter marker during walking concur with the results by
rapid push-off (A2-S generation: 0.39 + 0.082 J kg-‘) which Cappozzo and Gaxxani (1998) who compared a greater
was the single largest generation phase of all the joints trochanter marker to a hip joint centre identified by X-ray
[Fig. 3(f)]. In the frontal plane, all subjects had an evertor techniques.
moment at heel contact. Eight of the subjects then switched Characteristic joint moment profiles were evident in the
to an invertor moment during midstance. During the propul- frontal and transverse planes during normal walking which
sive phase, seven of the subjects exhibited an evertor moment indicate defined motor patterns and functional roles in these
while two exhibited an invertor moment. The power phases planes. As expected, the major portion of work was pcr-
were small and highly variable for both the transverse and formed in the sagittal plane since the goal of locomotion is to
frontal planes [Fig. 3(d) and (e)]. support the body against gravity while generating move-
ments which propel the body forward in the plane of
progression. However, kinetic analysis in three dimensions is
necessary particularly if the hip joint is being examined as a
DISCUSSION substantial amount of work was done in the frontal plane of
the hip to control the pelvis and trunk. For example, the H l-
There are a number of variables (e.g. temporal, kinematic, F and H2-F phases will be important factors to quantify in
kinetic) that may be used to identify a characteristic pattern patients with osteoarthritis of the hip or hip arthrophtsty
during gait, but the mechanical power profile is the only where weak hip abductors are currently visually diagnosed as
single variable which reveals the functional role of the a Trendelenburg. Although the power in the transverse plane
anatomical structures as they shorten or lengthen under was low in normal subjects, such measures have potential for
tension. Furthermore, the time integral of each power phase elucidating some of the features in pathological gait patterns
(i.e. work) is a unique variable in that it quantifies, with a
single value, specific functions during the gait cycle.Although Acknowledgements-This research was supported by MRC
work and power are scalar terms, the work was partitioned # MT4343 to D. Winter. The technical assistance of M. Ishac
into three arbitrary planes to facilitate the functional inter- and P. Guy was greatly appreciated.
pretation of specific events. A limitation of this technique is
that the work calculations will be underestimated if there is
simultaneous activity of the agonist and antagonist muscle
groups (i.e. co-contraction).
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758 Technical Note
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