11/8/2017

Linear Kinematics

Kinematics
 Kinematics - The branch of biomechanics
that describes motion (in terms of position,
velocity and acceleration).
 Linear kinematics (particle kinematics) -
the study of the linear and curvilinear
motion of a particle
– Minimum amount of information needed to
track linear kinematics is a single point.

Linear Kinematics
 Position
 Distance (d)
 Displacement (s)
d
 Speed = t
s u
 Velocity = v  t
vu
 Acceleration = a  t

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Position
 Location in space
 Use Cartesian
coordinates +
 Can be three
+
dimensional -
– Must add z-axis
-

Measurements of Motion: Position

 The act of
digitizing an
image set
creates a listing
of XY
coordinate
values.
 Each XY value
defines the
position of a
body landmark
point (e.g. toe)

Patterns of Motion
 Movement involves change in position.
 Pattern of motion curves show the direction and “amount”
of motion.
 Can be useful to coaches and athletes for qualitative
analysis.

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Modeling Motion – Single Point

 Minimum information to
track motion of a
segment or a whole
body is a single point.
 The motion of the point
provides the general
representation of an
object’s motion.
 The assumption of a
single point is a
simplification of the
total motion of the entire
body.

Pattern of Motion – Human Body

 Even for complex
human movement,
where the body
shape constantly
changes, we can
track a single
point to get a
representation of
the body’s total
motion.

Quantification of Motion:
Vectors and Scalars
 Vector - a quantity that
possesses both
magnitude and
direction. Examples:
Force, velocity,
momentum…
 Scalar - a quantity that
can be completely
described in terms of
size. Example: Mass,
time, speed.

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Position / Displacement
 Position (P) - the location of particle (body
landmark, body c.g.) in space, measured with
respect to a fixed reference system. (Position
is a vector).
 Displacement (D) - the change in position of
a particle (over a specified time interval).
D = Pfinal - Pinitial).
 Distance - the linear length covered over a
specified time period. (Distance is a scalar).
Distance can be equal to Displacement
magnitude.

Displacement
 Displacement is change in position

Vector Subtraction
D = Pf - Pi
 Vector subtraction
is equal to the
vector addition of
the negative value
of vector 2 with
vector 1.

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Distance
Displacement
 Length of the path
followed
 Scalar quantity
 Unit: m

Biomechanics and Gait

Center of gravity in gait: Position

changes

Anteroposterior

Vertical

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Velocity
 Velocity (V) - the rate of change of
position of a particle.
 average V = (Pfinal - Pinitial) / time
 average V = D / time
 instantaneous V = D / time (where time is
very short).
 Speed = Distance / time (speed is a scalar)
 Units of velocity or speed = feet per
second, meters per second, miles per hour
(unit of length / unit of time).

Speed vs. Velocity

ATHENS, Greece (AP) -- On a nearly windless night
Finish in Olympic stadium, a runner from America's heartland
made history by shattering one of track and field's
most hallowed marks.
Maurice Greene, a 24-year-old from Kansas City,
Kan., broke the 100-meter world record Wednesday
night with a time of 9.79 seconds.
100m
If his actual path
looked like the red
line to the left, which
would be faster – his
Start
speed or his velocity?

Speed and Velocity

Exercise
Why is a 100 mph fastball more difficult to
hit than an 80 mph fastball?

Answer: The faster the ball is pitched, the less time

the batter has to react and decide whether or not to
swing.

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 The pitcher’s rubber is 60.5’ from home plate.

 The ball is typically released 2.5’ in front of the
rubber (total distance 58’).
 100 mph = 146.67 ft/sec
 80 mph = 117.33 ft/sec
 s u
v
t

58ft 58ft
 146.67ft t
/s  t  0.395s
t 146.67ft / s
58ft 58ft
 117.33ft / s  t t  0.494s
t 117.33ft / s

Velocity: Central Differences

[Hamill & Knutzen (1995) Fig 8-14]

Velocity
Velocity is the slope
of the displacement-
time curve

[Hamill & Knutzen (1995) Fig 8-12, 8-13]

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Differentiation of Displacement to Get

Velocity #2
#1
#3

#5
#4
#6
Magnitude Direction Sign
#1 constant same 0 m/s
#2 incr. displ + + m/s
#3 decr displ + - m/s
#4 decr displ - - m/s
#5 incr.displ - + m/s
#6 constant same 0 m/s

Average vs. Instantaneous

Velocity

Velocity Example

FACT: 100 m in 9.84 s FACT: 200 m in 19.32

And clocked at 12 m/s
(fastest human recording Avg. speed = 10.35 m/s
ever in 1994) Therefore, assuming
assuming maintenance of 12 maintenance of speed,
m/s velocity: 150 m time = 14.49 s
second 50 m = 4.17 s
 150 m time = (9.84 +
4.17) = 14.02 s

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Velocity Example 2
Steve Cram 1500m race (1985)
• 1st to run under 3:30 with time of 209.7 s
• Average speed = 1500m / 209.7 s = 7.15 m/s

Divide the race into 1/3s (500 m splits)

Time Speed
0-500 m 70.1 s 7.13 m/s
500 - 1000 m 71.8 s 6.96 m/s
1000 - 1500 m 67.8 s 7.34 m/s

• note the effect of dividing the analysis into

segments

Velocity Example
Donovan Bailey's official splits Average speed over:
for the Challenge of Champions
150m race at Skydome, Toronto, 50 m = 8.98 m/s
01 June 1997. 100 m = 9.93 m/s
Distance (m) Split (s) 150 m = 10.12 m/s
0 0.171
50 5.74 And what about that
100 10.24 reaction time?? Is that
good?? Anybody remember
150 14.99
motor learning??? Me
neither.

Velocity
 Velocity is in the direction of displacement
(tangent to the curve):

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Velocity
 Velocity direction and magnitude changes
as a function of time:

Velocity-Graphically Speaking

[Hamill & Knutzen (1995) Fig 8-17]

Differentiating Displacement to
get Velocity - Graphically
 Things to mark on your graphs:
– Points where the slope of the tangent line to the
displacement time curve = 0.
• This is where your velocity-time curve will cross the
zero line.
– Inflection points in the distance time curve
(places where the concavity of the curve
changes).
• These will be maximums or minimums in your
velocity-time curve.

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Velocity-Graphically Speaking

[Hamill & Knutzen (1995) Fig 8-12, 8-18]

Velocity-Graphically Speaking

[Hamill & Knutzen (1995) Fig 8-12, 8-18]

Usain Bolt – 2008 Olympics

(9.69)
Dist (m) Time (s) Vel (m/s)
0 0.164 0.00
10 1.85 7.39
20 2.87 10.36
30 3.78 11.24
40 4.65 11.63
50 5.5 11.98
60 6.32 12.20
70 7.14 12.20
80 7.96 12.12
90 8.79 11.56
100 9.69
http://www.youtube.com/watch?v=o-urnlaJpOA

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Usain Bolt – 2009 World

Championships (9.58)
Dist (m) Time (s) Vel (m/s)
0 0.146 0.00
10 1.89 7.32
20 2.88 10.58
30 3.78 11.36
40 4.64 11.83
50 5.47 12.12
60 6.29 12.27
70 7.1 12.27
80 7.92 12.12
90 8.75 12.05
100 9.58 http://www.youtube.com/watch?v=By1JQFxfLMM

When running a loop on a track and the initial

and final positions are on the same spot, the
following is true.
A. Distance > displacement
B. Distance < displacement
C. Distance = displacement

Radar Speed Gun

 where
– c is the speed of light
– f is the emitted frequency of the radio waves
– Δf is the difference in frequency between the radio
waves that are emitted and those received back by
the gun

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How do we measure average

speed in lab environment?
 Average walking or
running speed

 Infrared photo cells

 Electronic timer

Acceleration
 Acceleration (A) - the rate of change of
velocity of a particle.
 average A = (Vfinal - Vinitial) / time
 instantaneous A = (Vfinal - Vinitial) / time
(where time is very short).
 Units of acceleration = meters per second
squared (m/s2), feet per second squared
(f/s2)

Acceleration
Acceleration is a measure of change in velocity.
What characteristics of velocity are changing here?

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Acceleration
Acceleration is the rate of change in velocity:

 Acceleration Acceleration
vectors are not
normally aimed
along the line of
progress
(displacement).
 Note: during
airborne flight,
acceleration is
simpler; it’s
vector is always
aimed downward
(gravity).
 Tangent to
velocity-time
curve.

Acceleration

Exercise
Question:
Is a 400m runner that is
running at a constant
speed around a track
accelerating?

Solution: Yes, because the change in direction changes

velocity, which in turn affects acceleration.

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Velocity and Acceleration

start
t2
t0 t1
+ direction + direction
Vel. Increasing + vel. decreasing + vel.
+ accel. negative accel.

t0 t1 t2 t3 t4

Negative direction Negative direction

decreasing –’ve vel. increasing –’ve vel.
positive accel. negative accel.

t4 t3 t2
finish
Accel.

Draw the
acceleration
graph

Time

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Usain Bolt – 2008 Olympics (9.69)

Dist (m) Time (s) Vel (m/s) Accel (m/s2)
0 0.164 0.00
10 1.85 7.39 3.83
20 2.87 10.36 1.99
30 3.78 11.24 0.71
40 4.65 11.63 0.43
50 5.5 11.98 0.34
60 6.32 12.20 0.13
70 7.14 12.20 -0.05
80 7.96 12.12 -0.38
90 8.79 11.56
100 9.69

Usain Bolt – 2009 World

Championships (9.58)
Dist (m) Time (s) Vel (m/s) Accel (m/s2)
0 0.146 0.00
10 1.89 7.32 3.87
20 2.88 10.58 2.14
30 3.78 11.36 0.71
40 4.64 11.83 0.45
50 5.47 12.12 0.26
60 6.29 12.27 0.09
70 7.1 12.27 -0.09
80 7.92 12.12 -0.13
90 8.75 12.05
100 9.58

Gait

 Spatial and temporal

variables

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Different Views/Planes

Phases
 Stride – a gait cycle
 Stance phase
– 60%
– Support
– Single & double support

 Swing Phase
– 40%

Gait
 Stride length (SL)

 Stride frequency (SF)

– 5 Hz: 5 strides per second

 Gait speed = SL * SF

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Gait
 Step
– Step length, step frequency

Single support and double support during

walking

During normal speed walking, how much

time (%) is spent during the support phase?
A. 30%
B. 40%
C. 60%
D. 70%

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TABLE 8-4 Stride Characteristic Comparison

Between Walking and Running
Variable Walking (17,25) Running (22,25) Sprint

Speed (m/s) 0.67-1.32 1.65-4.00 8.00-9.00

Stride length (m) 1.03-1.35 1.51-3.00 4.60-4.50

Cadence (steps/min) 79.00-118.00 132.00-200.00

Stride rate (Hz) 0.65-0.98 1.10-1.38 1.75-2.00

Cycle time (s) 1.55-1.02 0.91-0.73 0.57-0.50

Stance (% of gait cycle) 66.00-60.00 59.00-30.00 25.00-20.00

Swing (% of gait cycle) 34.00-40.00 41.00-70.00 75.00-80.00

Normative values

 Affected by many factors

 Speed (m/s)
– Men: 1.3 – 1.6; women: 1.2 – 1.5

 Stride length (m)

– Men: 1.4 – 1.6; Women 1.3 – 1.5

 Cadence (steps/min)
– Men: 110 – 115; Women: 115 – 120

Kirtley 2006, p23

Effect of speed on phases

 As gait speed increases, the double support time decreases

 Transition from walking to run: zero double support time

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Gait speed: stride length and frequency

 Relationship
– Stride length & frequency

 Gait speed = SL * SF

– SL = 1.3m, SF = 4 Hz
Kirtley 2006, p24
– Speed = 1.3*4 = 5.2 m/s

Figure 8-26.

Applications

 Normal Step width

– < 0.5 of pelvic width (Kirtley
2006)
– Or 13% of leg length (Donelan
2001)

 Normal working speed: About

1.3 m/s

 A common jogging speed:

3.3-3.8 m/s

During normal speed walking, how much

time (%) is spent during the single-support?
A. 20%
B. 40%
C. 60%
D. 30%

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