Handbook of Human Motion 1st Edition

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Bertram Müller
Sebastian I. Wolf
Editors-in-Chief
Gert-Peter Brüggemann · Zhigang Deng
Andrew S. McIntosh · Freeman Miller
W. Scott Selbie Section Editors

Handbook of
Human Motion
Handbook of Human Motion
Bertram Müller • Sebastian I. Wolf
Editors-in-Chief

Gert-Peter Brüggemann • Zhigang Deng

Andrew S. McIntosh • Freeman Miller
W. Scott Selbie
Section Editors

Handbook of Human
Motion

With 522 Figures and 68 Tables

Editors-in-chief
Bertram Müller Sebastian I. Wolf
Motion and More Clinic for Orthopedics and Trauma Surgery
Barcelona, Spain Center for Orthopedics
Trauma Surgery and Spinal Cord Injury
Heidelberg University Hospital
Heidelberg, Germany

Section Editors
Gert-Peter Brüggemann Zhigang Deng
Institute for Biomechanics und Orthopedics Department of Computer Science
German Sport University Cologne University of Houston
Cologne, Germany Houston, TX, USA

Andrew S. McIntosh Freeman Miller

McIntosh Consultancy and Research Wilmington, Delaware, USA
Sydney, NSW, Australia
Australian Collaboration for Research into
Injury in Sport and its Prevention (ACRISP)
Federation University Australia
Ballarat, VIC, Australia
Monash University Accident Research Centre
Monash University
Melbourne, VIC, Australia

W. Scott Selbie
HAS-Motion Inc.
Kingston, ON, Canada
C-Motion Inc.
Germantown, MD, USA

ISBN 978-3-319-14417-7 ISBN 978-3-319-14418-4 (eBook)

ISBN 978-3-319-14419-1 (print and electronic bundle)
https://doi.org/10.1007/978-3-319-14418-4

Library of Congress Control Number: 2017957051

# Springer International Publishing AG, part of Springer Nature 2018

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the
material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,
broadcasting, reproduction on microfilms or in any other physical way, and transmission or information
storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology
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The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication
does not imply, even in the absence of a specific statement, that such names are exempt from the relevant
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The publisher, the authors and the editors are safe to assume that the advice and information in this book
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The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
Foreword

The field of human locomotion biomechanics has developed drastically in the last
50 years. I remember when I first began in biomechanics in the early 1970’s how
underdeveloped the field of human motion analysis and the related methodologies
were. There were very few places in the world that were involved in this field of study,
and we had to develop appropriate methodologies often from scratch. I remember a
discussion with experts as whether or not the impact forces measured with force plates
were artifacts or real. I also remember the high-speed film cameras and the complicated
and time-consuming film analysis. Today, human movement analysis is a highly
developed field with many facets, excellent high-technology equipment, highly sophis-
ticated mathematical methods of data analysis, and thousands of experts working all
over the world in many different fields of applications. Additionally, human movement
analysis is instructed in almost all universities in many different faculties (e.g.,
kinesiology, engineering, medicine, injury prevention, etc.).
The Handbook of Human Motion reflects these developments and provides an
introduction to the subject, as well as a description of the current state-of-the-art
technologies and a vision for the future of the field. The various sections provide a
broad representation of the different fields of application of movement analysis and
allow cross-fertilization between these fields.
Furthermore, the Handbook of Human Motion provides a wealth of information from
outstanding experts in the field that can be used to explore this innovative field of study.
The study of human movement is exciting and will develop in the next few
decades even further using wearable sensors and chips that provide real-time infor-
mation to the athlete and patient. The principal work of the human movement analyst
is to provide appropriate interpretation of the wealth of generated results. This
handbook helps in contributing to this development.

Calgary, Summer 2017 Benno Nigg

v
Preface

In the beginning, the science of human movement was represented by just a few
outstanding personalities. Nowadays, this is no longer the case as the number of
experts in the field has increased exponentially. With this increase, the field has
diversified into many different scientific areas and specialities.
Working within different fields but meeting up regularly at conferences related to
human motion capture, we both realized that there may be a huge amount of
knowledge that we were not even aware of. Specialized textbooks are available for
all of the different disciplines, but to our knowledge there is, as yet, no compendium
that serves to overarch them all. Therefore, in conjunction with five other specialists
in different fields and a publishing house that shared our philosophy, we began
compiling this handbook. With well over 100 chapters now realized, and with more
than 200 authors involved, the handbook has advanced to this first printed edition.
This handbook is intended not only for beginners in the field, providing an
overview of the different approaches, but also for experts in a particular area needing
information for a related one. Some fields have developed along with the technology,
such as animations in the motion picture industry. Others, such as medicine, are
introducing it to improve understanding of human movement for diagnosis and
treatment. Its application in the field of sports science, for instance, might enhance
human performance while diminishing the risk of injury. When legal aspects are
involved or when dealing with occupational medicine, the focus of human motion
might shift toward other related issues and the subject of forensics. New fields are
continually emerging, guided by the creativity of people working with such systems.
In each chapter of this book, information is provided on state-of-the-art science,
as well as insight into future directions, providing detailed information about each
subject. Our hope is that this handbook will not only increase the level of knowledge
of the individual reader, but also facilitate understanding between different scientific
fields and related areas.
The inclusion of authors from around the world not only reflects different
approaches but also a wide variation in methodological and linguistic styles. The
latter, for instance, is responsible for the transmission of information, which is the
basis for communication and understanding in a multicultural society, and can
involve imparting many ambiguous terms and concepts. While standardization

vii
viii Preface

might not be an attainable goal, knowledge of the differences may well enhance
interaction and communication between professionals.
And finally, the variety of subject matter within this compact handbook might
also produce new ideas for one’s own field of study. Interpolating knowledge with
information from fields not previously believed to be related might just lead to novel
approaches. What it does already provide is evidence of diversity in measurements
and their interpretation, which will doubtless lead to improvements in results in the
quest for objective data.
What we, the editors, have also noted is the rapid development and expansion in
the discovery of human motion and its application. While this first physical edition
provides extensive information, it is also recommended to look up the online
version, where frequent updates can be seen. We are thankful to all of the authors
for their contribution to this edition and to their continuing interest in keeping the
information up to date. We would also like to invite all of those who find any
omissions to contribute to this work in the future.

Barcelona/Heidelberg Bertram Müller

October 2017 Sebastian I. Wolf
Acknowledgments

Editing this book was for both editors an adventure. We did not know in advance
what result to expect since neither of our scientific backgrounds and networks
overarched the disciplines presented in this book. We therefore give thanks to our
section editors Scott Selbie, Freeman Miller, Gert-Peter Brüggemann, Zhigang
Deng, and Andrew S. McIntosh for extending our network and helping in collecting
these chapters. Our special thanks go to Manfred Nusseck and Benita Kuni for
making the sections of human movement in music and dance possible. Furthermore,
we wish to thank all contributing authors for their idealism in sharing their knowl-
edge and dedicating their time to writing a contribution to this book. Finally, we
would also like to extend our particular gratitude to the team of Springer with Tom,
Lydia, Johanna, and Barbara for supporting us in realizing this overview on human
motion throughout the past years.

ix
Contents

Volume 1

Section I Methods and Models

Part I Rigid Body Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Observing and Revealing the Hidden Structure of the Human

Form in Motion Throughout the Centuries . . . . . . . . . . . . . . . . . . . . . . 3
Aurelio Cappozzo
Three-Dimensional Reconstruction of the Human Skeleton in
Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Valentina Camomilla, Aurelio Cappozzo, and Giuseppe Vannozzi
Estimation of the Body Segment Inertial Parameters for the Rigid
Body Biomechanical Models Used in Motion Analysis . . . . . . . . . . . . . 47
Raphaël Dumas and Janis Wojtusch

Part II Discriminative Methods in Dynamic Pose Estimation ..... 79

3D Dynamic Pose Estimation from Marker-Based Optical Data . . . . . . 81

W. Scott Selbie and Marcus J. Brown
Measurement of 3D Dynamic Joint Motion Using Biplane
Videoradiography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Hans Gray, Shanyuanye Guan, Peter Loan, and Marcus Pandy
3D Musculoskeletal Kinematics Using Dynamic MRI . . . . . . . . . . . . . . 117
Frances T. Sheehan and Richard M. Smith
Cross-Platform Comparison of Imaging Technologies for Measuring
Musculoskeletal Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Richard M. Smith and Frances T. Sheehan
Ultrasound Technology for Examining the Mechanics of the Muscle,
Tendon, and Ligament . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Glen Lichtwark
xi
xii Contents

Part III Generative Methods in Dynamic Pose Estimation . . . . . . . 177

3D Dynamic Probabilistic Pose Estimation from Data Collected Using

Cameras and Reflective Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Thomas M. Kepple and Alan R. De Asha
3D Dynamic Pose Estimation from Markerless Optical Data . . . . . . . . 197
Steven Cadavid and W. Scott Selbie
Three-Dimensional Human Kinematic Estimation Using Magneto-
Inertial Measurement Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Andrea Cereatti, Ugo Della Croce, and Angelo M. Sabatini
Gait Parameters Estimated Using Inertial Measurement Units . . . . . . . 245
Ugo Della Croce, Andrea Cereatti, and Martina Mancini
Physics-Based Models for Human Gait Analysis . . . . . . . . . . . . . . . . . . 267
Petrissa Zell, Bastian Wandt, and Bodo Rosenhahn

Part IV Body Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

Scaling and Normalization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

At L. Hof

Part V Extended Modeling Techniques . . . . . . . . . . . . . . . . . . . . . . 307

Induced Acceleration and Power Analyses of Human Motion ....... 309

Anne K. Silverman
Optimal Control Modeling of Human Movement . . . . . . . . . . . . . . . . . 327
Brian R. Umberger and Ross H. Miller
Time Series Analysis in Biomechanics . . . . . . . . . . . . . . . . . . . . . . . . . . 349
W. Brent Edwards, Timothy R. Derrick, and Joseph Hamill
Hill-Based Muscle Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Ross H. Miller
Simulation of Soft Tissue Loading from Observed Movement
Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Scott C. E. Brandon, Colin R. Smith, and Darryl G. Thelen
Gait Symmetry Measures and Their Relevance to Gait Retraining ... 429
Silvia Cabral

Part VI Dynamic Electromyography . . . . . . . . . . . . . . . . . . . . . . . . 449

Surface Electromyography to Study Muscle Coordination . . . . . . . . . . 451

François Hug and Kylie Tucker
Contents xiii

Section II Medical Application

Part VII Gait Assessment in Clinical Context ................. 471

Clinical Gait Assessment by Video Observation and 2D Techniques . . . 473

Andreas Kranzl
The Conventional Gait Model - Success and Limitations . . . . . . . . . . . 489
Richard Baker, Fabien Leboeuf, Julie Reay, and Morgan Sangeux
Variations of Marker Sets and Models for Standard Gait Analysis ... 509
Felix Stief
Next-Generation Models Using Optimized Joint Center Location .... 527
Ayman Assi, Wafa Skalli, and Ismat Ghanem
Kinematic Foot Models for Instrumented Gait Analysis . . . . . . . . . . . . 547
Alberto Leardini and Paolo Caravaggi
Trunk and Spine Models for Instrumented Gait Analysis . . . . . . . . . . . 571
Robert Needham, Aoife Healy, and Nachiappan Chockalingam
Upper Extremity Models for Clinical Movement Analysis .......... 583
Andrea Giovanni Cutti, Ilaria Parel, and Andrea Kotanxis

Part VIII Interpreting Kinetics and EMG in Gait . . . . . . . . . . . . . . . 607

Interpreting Ground Reaction Forces in Gait . . . . . . . . . . . . . . . . . . . . 609

Nachiappan Chockalingam, Aoife Healy, and Robert Needham
Interpreting Joint Moments and Powers in Gait . . . . . . . . . . . . . . . . . . 625
L. H. Sloot and M. M. van der Krogt
EMG Activity in Gait: The Influence of Motor Disorders . . . . . . . . . . . 645
Dimitrios A. Patikas

Part IX Scores and Spatiotemporal Parameters . . . . . . . . . . . . . . . 671

Gait Scores: Interpretations and Limitations . . . . . . . . . . . . . . . . . . . . . 673

Veronica Cimolin and Manuela Galli
Interpreting Spatiotemporal Parameters, Symmetry, and Variability
in Clinical Gait Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 689
Arnaud Gouelle and Fabrice Mégrot

Part X Pedobarography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709

Assessing Pediatric Foot Deformities by Pedobarography . . . . . . . . . . . 711

Dieter Rosenbaum
xiv Contents

Assessing Clubfoot and Cerebral Palsy by Pedobarography . . . . . . . . . 727

Julie A. Stebbins
Low Density Pedoboragraphy as a Gait Analysis Tool . . . . . . . . . . . . . 741
Ruopeng Sun, Tyler A. Wood, and Jacob J. Sosnoff
The Importance of Foot Pressure in Diabetes . . . . . . . . . . . . . . . . . . . . 759
Malindu E. Fernando, Robert G. Crowther, and Scott Wearing
Integration of Foot Pressure and Foot Kinematics Measurements
for Medical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789
Claudia Giacomozzi, Paolo Caravaggi, Julie A. Stebbins, and
Alberto Leardini

Volume 2

Part XI Energy Consumption During Gait . . . . . . . . . . . . . . . . . . . . 811

Assessing the Impact of Aerobic Fitness on Gait . . . . . . . . . . . . . . . . . . 813

Annet Dallmeijer, Astrid Balemans, and Eline Bolster
Oxygen Consumption in Cerebral Palsy . . . . . . . . . . . . . . . . . . . . . . . . 825
Hank White, J. J. Wallace, and Sam Augsburger
The Use of Kinematics for Pulmonary Volume Assessment . . . . . . . . . . 847
Carlo Massaroni
Aerobic Capacity and Aerobic Load of Activities of Daily Living
After Stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 863
I. J. Blokland, T. IJmker, and H. Houdijk

Part XII Gait and Balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 885

Measures to Determine Dynamic Balance . . . . . . . . . . . . . . . . . . . . . . . 887

Timothy A. Niiler
Slip and Fall Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 915
Feng Yang
Detecting and Measuring Ataxia in Gait . . . . . . . . . . . . . . . . . . . . . . . . 937
Mariano Serrao and Carmela Conte
Gait During Real-World Challenges: Gait Initiation, Gait Termination,
Acceleration, Deceleration, Turning, Slopes, and Stairs . . . . . . . . . . . . 955
Michael Orendurff
Gait Retraining for Balance Improvement . . . . . . . . . . . . . . . . . . . . . . . 977
Robert G. Crowther and Jessica May Pohlmann
Contents xv

Part XIII Pathoanatomy and Diagnostics in Cerebral Palsy . . . . . . 987

Diagnostic Gait Analysis Use in the Treatment Protocol for

Cerebral Palsy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 989
Freeman Miller and John Henley
Walking and Physical Activity Monitoring in Children with
Cerebral Palsy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1005
Kristie F. Bjornson and Nancy Lennon
Spasticity Effect in Cerebral Palsy Gait . . . . . . . . . . . . . . . . . . . . . . . . . 1037
Marlene Cristina Neves Rosa and André Gonçalo Gomes Roque
Natural History of Cerebral Palsy and Outcome Assessment . . . . . . . . 1053
Erich Rutz and Pam Thomason
Skeletal Muscle Structure in Spastic Cerebral Palsy . . . . . . . . . . . . . . . 1075
Adam Shortland

Part XIV Movement Deviations in Cerebral Palsy ............. 1091

Swing Phase Problems in Cerebral Palsy . . . . . . . . . . . . . . . . . . . . . . . . 1093

Ana Presedo
Strength Related Stance Phase Problems in Cerebral Palsy . . . . . . . . . 1109
Justin Connor and Mutlu Cobanoglu
Foot and Ankle Motion in Cerebral Palsy . . . . . . . . . . . . . . . . . . . . . . . 1121
Jon R. Davids and Sean A. Tabaie
The Arm Pendulum in Gait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1151
Jaques Riad
Upper Extremity Movement Pathology in Functional Tasks . . . . . . . . . 1167
Lisa Mailleux, Cristina Simon-Martinez, Hilde Feys, and Ellen Jaspers

Part XV Other Neurologic Gait Disorders . . . . . . . . . . . . . . . . . . . . 1185

Idiopathic Toe Walking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1187

Karen Davies, Lise Leveille, and Christine Alvarez
Gait Disorders in Persons After Stroke . . . . . . . . . . . . . . . . . . . . . . . . . 1205
Johanna Jonsdottir and Maurizio Ferrarin
Hereditary Motor Sensory Neuropathy: Understanding Function
Using Motion Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1217
Sylvia Õunpuu and Kristan Pierz
Motor Patterns Recognition in Parkinson’s Disease . . . . . . . . . . . . . . . 1237
Pierpaolo Sorrentino, Valeria Agosti, and Giuseppe Sorrentino
xvi Contents

Gait and Multiple Sclerosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1253

James McLoughlin

Functional Dystonias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1267

Jessica Pruente and Deborah Gaebler-Spira

Part XVI Traumatic and Orthopedic Gait Disorders . . . . . . . . . . . . 1281

Gait Changes in Skeletal Dysplasia . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1283

William G. Mackenzie and Oussama Abousamra

Impact of Scoliosis on Gait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1289

Elizabeth A. Rapp and Peter G. Gabos

Concussion Assessment During Gait . . . . . . . . . . . . . . . . . . . . . . . . . . . 1307

Robert D. Catena and Kasee J. Hildenbrand

Functional Effects of Ankle Sprain . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1325

Ilona M. Punt and Lara Allet

Part XVII Orthotics and Prosthetics in Gait . . . . . . . . . . . . . . . . . . . 1341

Prosthetic Foot Principles and Their Influence on Gait . . . . . . . . . . . . . 1343

Andrew Hansen and Felix Starker

The Influence of Prosthetic Knee Joints on Gait . . . . . . . . . . . . . . . . . . 1359

Steven A. Gard

Influence of Prosthetic Socket Design and Fitting on Gait . . . . . . . . . . . 1383

Arezoo Eshraghi and Jan Andrysek

Functional Effects of Foot Orthoses . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1407

Christopher Nester

Functional Effects of Shoes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1423

Benedicte Vanwanseele

Gait Rehabilitation with Exoskeletons . . . . . . . . . . . . . . . . . . . . . . . . . . 1433

Stefano Federici, Fabio Meloni, and Marco Bracalenti

Brain-Computer Interfaces for Motor Rehabilitation . . . . . . . . . . . . . . 1471

Rüdiger Rupp

Part XVIII Gait After Joint Replacement . . . . . . . . . . . . . . . . . . . . . 1503

Effects of Total Hip Arthroplasty on Gait . . . . . . . . . . . . . . . . . . . . . . . 1505

Swati Chopra and Kenton R. Kaufman
Contents xvii

Effects of Knee Osteoarthritis and Joint Replacement Surgery

on Gait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1521
Cheryl L. Hubley-Kozey and Janie Astephen Wilson

The Effects of Ankle Joint Replacement on Gait . . . . . . . . . . . . . . . . . . 1551

Justin Michael Kane, Scott Coleman, and James White Brodsky

Shoulder Joint Replacement and Upper Extremity Activities of

Daily Living . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1563
Hendrik Bruttel, David M. Spranz, Jan M. Eckerle, and Michael W. Maier

Section III Arts and Human Performance

Part XIX Sports ......................................... 1581

Sprint Running: Running at Maximum Speed . . . . . . . . . . . . . . . . . . . 1583

Michiyoshi Ae

Running Shoes: Injury Protection and Performance Enhancement . . . 1613

Steffen Willwacher

Landings: Implications for Performance . . . . . . . . . . . . . . . . . . . . . . . . 1629

Laura A. Held, Henryk Flashner, and Jill L. McNitt-Gray

Airborne Movements: Somersaults and Twists . . . . . . . . . . . . . . . . . . . 1661

Maurice R. Yeadon

Ski Jumping: Aerodynamics and Kinematics of Take-Off and

Flight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1681
Mikko Virmavirta

The Segmental Movements in Front Crawl Swimming . . . . . . . . . . . . . 1703

Ross H. Sanders, Jordan T. Andersen, and Hideki Takagi

Movement Analysis of Scull and Oar Rowing . . . . . . . . . . . . . . . . . . . . 1719

Patria A. Hume

Segmental Movements in Cycling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1741

Rodrigo R. Bini and Felipe P. Carpes

Movement Analysis of the Golf Swing . . . . . . . . . . . . . . . . . . . . . . . . . . 1755

Patria A. Hume and J. Keogh

The Motor Solutions of Throws in Sports . . . . . . . . . . . . . . . . . . . . . . . 1773

Bing Yu
xviii Contents

Volume 3

Part XX Motion in Music . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1787

Body Movements in Music Performances: The Example of

Clarinet Players . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1789
Manfred Nusseck, Marcelo M. Wanderley, and Claudia Spahn
Investigating Aspects of Movement in Violin Performance . . . . . . . . . . 1803
Gongbing Shan, Peter Visentin, Manfred Nusseck, and Claudia Spahn
Movement and Touch in Piano Performance . . . . . . . . . . . . . . . . . . . . . 1821
Werner Goebl
Movements, Timing, and Precision of Drummers . . . . . . . . . . . . . . . . . 1839
Sofia Dahl
Observing and Learning Complex Actions: On the Example of
Guitar Playing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1859
Tom Gardner and Emily S. Cross

Part XXI Dance ......................................... 1873

Functional Movement Analysis in Dance . . . . . . . . . . . . . . . . . . . . . . . . 1875

Andrea Schärli
Motion Analysis as Pedagogic Tool in Dance . . . . . . . . . . . . . . . . . . . . . 1889
Martin Puttke and Dimitri Volchenkov
Somatic Practices: How Motion Analysis and Mind Images Work
Hand in Hand in Dance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1911
Sarah Whatley

Section IV Animation

Part XXII Human Animation Control . . . . . . . . . . . . . . . . . . . . . . . . 1927

Video-Based Performance Driven Facial Animation . . . . . . . . . . . . . . . 1929

Fuhao Shi
Depth Sensor-Based Facial and Body Animation Control . . . . . . . . . . . 1943
Yijun Shen, Jingtian Zhang, Longzhi Yang, and Hubert P. H. Shum
Real-Time Full-Body Pose Synthesis and Editing . . . . . . . . . . . . . . . . . 1959
Edmond S. L. Ho and Pong C. Yuen
Real-Time Full Body Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . 1975
John Collomosse and Adrian Hilton
Contents xix

Part XXIII Human Animation Generation . . . . . . . . . . . . . . . . . . . . 2001

Data-Driven Character Animation Synthesis . . . . . . . . . . . . . . . . . . . . . 2003

Taku Komura, Ikhsanul Habibie, Jonathan Schwarz, and Daniel Holden

Physically Based Character Animation Synthesis . . . . . . . . . . . . . . . . . 2033

Jie Tan

Biped Controller for Character Animation . . . . . . . . . . . . . . . . . . . . . . 2055

KangKang Yin, Stelian Coros, and Michiel van de Panne

Data-Driven Hand Animation Synthesis . . . . . . . . . . . . . . . . . . . . . . . . 2079

Sophie Jörg

Example-Based Skinning Animation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2093

Tomohiko Mukai

Part XXIV Facial Animation and Gestures . . . . . . . . . . . . . . . . . . . . 2113

Visual Speech Animation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2115

Lei Xie, Lijuan Wang, and Shan Yang

Blendshape Facial Animation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2145

Ken Anjyo

Eye Animation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2157

Andrew T. Duchowski and Sophie Jörg

Head Motion Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2177

Najmeh Sadoughi and Carlos Busso

Hand Gesture Synthesis for Conversational Characters . . . . . . . . . . . . 2201

Michael Neff

Laughter Animation Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2213

Yu Ding, Thierry Artières, and Catherine Pelachaud

Part XXV Crowd Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2231

Functional Crowds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2233

Jan M. Allbeck

Crowd Formation Generation and Control . . . . . . . . . . . . . . . . . . . . . . 2243

Jiaping Ren, Xiaogang Jin, and Zhigang Deng

Crowd Evacuation Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2255

Tomoichi Takahashi
xx Contents

Part XXVI Facial Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2269

Perceptual Study on Facial Expressions . . . . . . . . . . . . . . . . . . . . . . . . . 2271

Eva G. Krumhuber and Lina Skora

Part XXVII Human to Virtual-Human Interaction . . . . . . . . . . . . . . 2287

Utilizing Unsupervised Crowdsourcing to Develop a Machine

Learning Model for Virtual Human Animation Prediction . . . . . . . . . . 2289
Michael Borish and Benjamin Lok

Section V Forensics and Legal Application

Part XXVIII Functional Capacity Evaluation .................. 2307

Functional Capacity Evaluation and Preemployment Screening . . . . . . 2309

Elizabeth Chapman, Anne M. Felts, and Matthew Klinker
Functional Capacity Evaluation and Quantitative Gait Analysis:
Lower Limb Disorders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2331
Isabella T. Klöpfer-Krämer and Peter Augat
Preparticipation Physical Evaluation in Sport . . . . . . . . . . . . . . . . . . . . 2349
James A. Onate and Daniel R. Clifton

Part XXIX Forensics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2361

Injury Mechanisms in Traffic Accidents . . . . . . . . . . . . . . . . . . . . . . . . 2363

Brian D. Goodwin, Sajal Chirvi, and Frank A. Pintar
Vehicle Occupants in Traffic Accidents . . . . . . . . . . . . . . . . . . . . . . . . . 2399
Garrett A. Mattos
Slips, Trips, and Falls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2417
Andrew Short and Len Cubitt
Biomechanical Forensics in Pediatric Head Trauma . . . . . . . . . . . . . . . 2447
Brittany Coats and Susan Margulies
Head Impact Biomechanics of “King Hit” Assaults . . . . . . . . . . . . . . . . 2463
Declan A. Patton and Andrew S. McIntosh
Expert Opinion and Legal Considerations . . . . . . . . . . . . . . . . . . . . . . . 2475
Henry M. Silvester
Applications in Forensic Biomechanics . . . . . . . . . . . . . . . . . . . . . . . . . 2495
Andrew S. McIntosh
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2509
About the Editors

Bertram Müller started his professional life with two

degrees in precision mechanics and electronics, he
worked in the Institute of Experimental Physics at the
Martin Luther University in Halle/Saale. A third engineer-
ing degree and an exchange program in a center for
children with special needs in Australia awoke his interest
in bridging Engineering and Medicine. Consequently, he
undertook a Ph.D. in Bioengineering at Strathclyde Uni-
versity in Glasgow and graduated in Medical Science at
University Rey Juan Carlos in Madrid.
In 2000, he moved to Barcelona, where he managed
the Biomechanics Laboratory of Egarsat until 2012. He
presently divides his professional life between teaching and applied biomechanics.
He is Associate Professor of Physics and Biomechanics at the University of Girona
(EUSES), the University of Manresa, and the National Institute of Physical Educa-
tion in Barcelona. He also works as a Consultant for applied biomechanics, including
clinical and occupational biomechanics, as well as sports applications, having
collaborated with the High-Performance Centre (CAR) in St. Cugat.
His current research interest is functional capacity evaluation in various disci-
plines, including legal matters. He is Editor-in-Chief of the Journal of Forensic
Biomechanics, as well as reviewer for several other scientific journals.

Sebastian I. Wolf with a Ph.D. in Physics, Sebastian

Wolf spent several years in pure physics research before
he moved into the field of human movement analysis in
2001. For 10 years, he was Technical Director of the
Gait Analysis Laboratory in the Department of Ortho-
pedic Surgery at Heidelberg University. Since 2010, he
has been the Director of the Division of Human Move-
ment Analysis and is responsible for both the clinical
gait analysis service as well as overseeing clinical
research in this field. In 2015, he became Associate

xxi
xxii About the Editors

Professor for Orthopedic Biomechanics at the Medical Faculty of Heidelberg Uni-

versity. In the same year, he was elected President of the European Society for
Movement Analysis in Adults and Children (ESMAC).
Sebastian Wolf has published more than 80 peer-reviewed articles relating to
clinical movement analysis and is a reviewer for numerous journals in this field with
continuing scientific interest in advancing knowledge on neurologic and orthopedic
gait disorders and mobility-related medical healthcare.
Section Editors

Gert-Peter Brüggemann Institute for Biomechanics und Orthopedics, German

Sport University Cologne, Cologne, Germany
Zhigang Deng Department of Computer Science, University of Houston, Houston,
TX, USA
Andrew S. McIntosh McIntosh Consultancy and Research, Sydney, NSW,
Australia
Australian Collaboration for Research into Injury in Sport and its Prevention
(ACRISP), Federation University Australia, Ballarat, VIC, Australia
Monash University Accident Research Centre, Monash University, Melbourne, VIC,
Australia
Freeman Miller Wilmington, Delaware, USA
Sebastian I. Wolf Clinic for Orthopedics and Trauma Surgery, Center for Orthope-
dics, Trauma Surgery and Spinal Cord Injury, Heidelberg University Hospital,
Heidelberg, Germany
W. Scott Selbie HAS-Motion Inc., Kingston, ON, Canada
C-Motion, Inc., Germantown, MD, USA

xxiii
Advisory Panel

Benita Kuni Clinic for Orthopedics and Trauma Surgery, Heidelberg University
Hospital, Heidelberg, Germany
Benno Nigg Faculties of Kinesiology, Engineering and Medicine, University of
Calgary, Calgary, AB, Canada
Manfred Nusseck University of Music and University Clinic Freiburg, Freiburg,
Germany
Mark Stringer Clarivate, Barcelona, Spain

xxv
Contributors

Oussama Abousamra Nemours Alfred I. duPont Hospital for Children, Wilming-

ton, DE, USA
Michiyoshi Ae Faculty of Sport Science, Nippon Sport Science University, Tokyo,
Japan
Valeria Agosti Department of Motor Sciences and Wellness, University of Naples
Parthenope, Naples, Italy
Institute Hermitage-Capodimonte, Naples, Italy
Jan M. Allbeck George Mason University, Fairfax, VA, USA
Lara Allet Department of Physical Therapy, University of Applied Sciences of
Western Switzerland, Carouge, Switzerland
Department of Community Medicine, Geneva University Hospitals and University
of Geneva, Geneva, Switzerland
Christine Alvarez Shriners Gait Lab, Sunny Hill Health Centre for Children,
Vancouver, BC, Canada
British Columbia Children’s Hospital, Vancouver, BC, Canada
Jordan T. Andersen Exercise and Sport Science, Faculty of Health Sciences, The
University of Sydney, Sydney, NSW, Australia
Jan Andrysek Holland Bloorview Kids Rehabilitation Hospital, Bloorview
Research Institute, Toronto, ON, Canada
Institute of Biomaterial and Biomedical Engineering, University of Toronto,
Toronto, ON, Canada
Ken Anjyo OLM Digital, Setagaya, Tokyo, Japan
Thierry Artières Ecole Centrale Marseille, Marseille, France
Laboratoire d’Informatique Fondamentale (LIF), UMR CNRS 7279, Université Aix-
Marseille, Paris, France
Ayman Assi Laboratory of Biomechanics and Medical Imaging, Faculty of Med-
icine, University of Saint-Joseph, Mar Mikhael, Beirut, Lebanon

xxvii
xxviii Contributors

Institut de Biomécanique Humaine Georges Charpak, Arts et Métiers ParisTech,

Paris, France

Janie Astephen Wilson School of Biomedical Engineering, Faculty of Medicine,

Dalhousie University, Halifax, NS, Canada
Nova Scotia Health Authority, Halifax, NS, Canada

Peter Augat Berufsgenossenschaftliche Unfallklinik Murnau und Paracelsus

Medizinische Privatuniversität Salzburg, Institut für Biomechanik, Murnau am
Staffelsee, Germany
Sam Augsburger Motion Analysis Center, Shriners Hospitals for Children Medi-
cal Center, Lexington, KY, USA

Richard Baker University of Salford, Salford, UK

Astrid Balemans Department of Rehabilitation Medicine, MOVE Research Insti-

tute Amsterdam, EMGO+ Institute for Health and Care Research, VU University
Medical Center, Amsterdam, The Netherlands
Brain Center Rudolf Magnus and Center of Excellence for Rehabilitation Medicine
University Medical Center, Utrecht, The Netherlands
De Hoogstraat Rehabilitation, Utrecht, The Netherlands
Rodrigo R. Bini La Trobe Rural Health School, College of Science, Health and
Engineering, La Trobe University, Bendigo, VIC, Australia

Kristie F. Bjornson Seattle Children’s Research Institute, University of Washing-

ton, Seattle, WA, USA

I. J. Blokland Faculty of Behavioral and Movement Sciences, Vrije Universiteit

Amsterdam, Amsterdam Movement Sciences, Amsterdam, The Netherlands
Heliomare Rehabilitation, Research and Development, Wijk aan Zee, The
Netherlands
Eline Bolster Department of Rehabilitation Medicine, MOVE Research Institute
Amsterdam, EMGO+ Institute for Health and Care Research, VU University Med-
ical Center, Amsterdam, The Netherlands

Michael Borish Computer and Information Sciences and Engineering Department,

University of Florida, Gainesville, FL, USA

Marco Bracalenti Department of Philosophy, Social and Human Sciences and

Education, University of Perugia, Perugia, Italy
Scott C. E. Brandon Department of Mechanical Engineering, University of Wis-
consin-Madison, Madison, WI, USA
Contributors xxix

James White Brodsky Faculty, Foot and Ankle Fellowship Program, Baylor
University Medical Center, Dallas, TX, USA
University of Texas Southwestern Medical School, Dallas, TX, USA
Texas A&M HSC College of Medicine, Bryan, TX, USA
Marcus J. Brown HAS-Motion, Inc., Kingston, ON, Canada
Hendrik Bruttel Clinic for Orthopedics and Trauma Surgery, Heidelberg Univer-
sity Hospital, Heidelberg, Germany
Carlos Busso Multimodal Signal Processing Lab, University of Texas at Dallas,
Dallas, TX, USA
Silvia Cabral Laboratório de Biomec^anica e Morfologia Funcional, CIPER,
Faculdade de Motricidade Humana, Universidade de Lisboa, Cruz Quebrada,
Dafundo, Portugal
Steven Cadavid KinaTrax Inc., Palm Beach, FL, USA
Valentina Camomilla Interuniversity Centre of Bioengineering of the Human
Neuromusculoskeletal System, Department of Movement, Human and Health Sci-
ences, University of Rome Foro Italico, Rome, Italy
Aurelio Cappozzo Interuniversity Centre of Bioengineering of the Human
Neuromusculoskeletal System, Department of Movement, Human and Health Sci-
ences, University of Rome “Foro Italico”, Rome, Italy
Paolo Caravaggi Movement Analysis Laboratory and Functional-Clinical Evalu-
ation of Prostheses, Istituto Ortopedico Rizzoli, Bologna, Italy
Felipe P. Carpes Applied Neuromechanics Research Group, Faculty of Health
Sciences, Federal University of Pampa, Uruguaiana, RS, Brazil
Robert D. Catena Gait and Posture Biomechanics Lab, Washington State Univer-
sity, Pullman, WA, USA
Andrea Cereatti Department POLCOMING, University of Sassari, Sassari, Italy
Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal Sys-
tem, University of Sassari, Sassari, Italy
Department of Electronics and Telecommunications, Politecnico di Torino, Turin,
Italy
Elizabeth Chapman Workforce Solutions, BTE Technologies, Greenwood Vil-
lage, CO, USA
Sajal Chirvi Neuroscience Research Labs – Research 151, Medical College of
Wisconsin, Zablocki VA Medical Center, Milwaukee, WI, USA
xxx Contributors

Nachiappan Chockalingam Life Sciences and Education, Staffordshire Univer-

sity, Stoke On Trent, UK
Swati Chopra Motion Analysis Laboratory, Mayo Clinic, Rochester, MN, USA
Veronica Cimolin Department of Electronics, Information and Bioengineering,
Politecnico di Milano, Milano, Italy
Daniel R. Clifton School of Health and Rehabilitation Sciences, The Ohio State
University, Columbus, OH, USA
Jameson Crane Sports Medicine Institute, The Ohio State University Wexner Med-
ical Center, The Ohio State University, Columbus, OH, USA
Brittany Coats Mechanical Engineering, University of Utah, Salt Lake City, UT,
USA
Mutlu Cobanoglu Department of Orthopedics and Traumatology, Adnan Mende-
res University Faculty of Medicine, Aydın, Turkey
Scott Coleman Department of Orthopaedics, Baylor University Medical Center,
Dallas, TX, USA
Department of Orthopedics, Baylor Scott and White, Dallas, TX, USA
John Collomosse Centre for Vision Speech and Signal Processing (CVSSP),
University of Surrey, Surrey, UK
Justin Connor Nemours A.I. duPont Hospital for Children, Wilmington, DE, USA
Carmela Conte Movement Analysis LAB, Rehabilitation Centre Policlinico Italia,
Rome, Italy
Stelian Coros Carnegie Mellon University, Pittsburgh, PA, USA
Emily S. Cross Bangor University, Bangor, North Wales, UK
Robert G. Crowther Sport and Exercise, School of Health and Wellbeing, Uni-
versity of Southern Queensland, Ipswich, QLD, Australia
Smart Movement, Brisbane, QLD, Australia
Len Cubitt Tullamarine, VIC, Australia
Andrea Giovanni Cutti Applied Research, INAIL Prosthetic Center, Vigorso di
Budrio, BO, Italy
Sofia Dahl Department of Architecture, Design and Media Technology, Aalborg
University Copenhagen, Copenhagen, Denmark
Annet Dallmeijer Department of Rehabilitation Medicine, MOVE Research Insti-
tute Amsterdam, EMGO+ Institute for Health and Care Research, VU University
Medical Center, Amsterdam, The Netherlands
Contributors xxxi

Jon R. Davids Northern California Shriner’s Hospital for Children, Sacramento,

Sacramento, CA, USA
Karen Davies Shriners Gait Lab, Sunny Hill Health Centre for Children, Vancou-
ver, BC, Canada
Alan R. De Asha C-Motion Inc., Germantown, MD, USA
Ugo Della Croce Department POLCOMING, University of Sassari, Sassari, Italy
Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal Sys-
tem, University of Sassari, Sassari, Italy
Zhigang Deng Department of Computer Science, University of Houston, Houston,
TX, USA
Timothy R. Derrick Department of Kinesiology, Iowa State University, Ames, IA,
USA
Yu Ding University of Houston, Houston, TX, USA
Andrew T. Duchowski Clemenson University, Clemson, SC, USA
Raphaël Dumas LBMC UMR_T9406, Univ Lyon, Université Claude Bernard
Lyon 1, IFSTTAR, Lyon, France
Jan M. Eckerle Clinic for Orthopedics and Trauma Surgery, Heidelberg University
Hospital, Heidelberg, Germany
W. Brent Edwards Human Performance Laboratory, Faculty of Kinesiology, Uni-
versity of Calgary, Calgary, AB, Canada
Arezoo Eshraghi Holland Bloorview Kids Rehabilitation Hospital, Bloorview
Research Institute, Toronto, ON, Canada
Stefano Federici Department of Philosophy, Social and Human Sciences and
Education, University of Perugia, Perugia, Italy
Anne M. Felts Workforce Solutions, BTE Technologies, Greenwood Village, CO,
USA
Malindu E. Fernando Podiatry Service, Kirwan Community Health Campus,
Townsville, QLD, Australia
College of Medicine, James Cook University, Townsville, QLD, Australia
Maurizio Ferrarin Biomedical Technology Department, IRCCS Fondazione Don
Carlo Gnocchi Onlus, Milan, MI, Italy
Hilde Feys Research Group for Neuromotor Rehabilitation, KU Leuven, Leuven,
Belgium
xxxii Contributors

Henryk Flashner Department of Aerospace and Mechanical Engineering, Univer-

sity of Southern California, Los Angeles, CA, USA
Peter G. Gabos Nemours A.I. duPont Hospital for Children, Wilmington, DE,
USA
Deborah Gaebler-Spira Shirley Ryan Ability Lab, Chicago, IL, USA
Manuela Galli Department of Electronics, Information and Bioengineering,
Politecnico di Milano, Milano, Italy
IRCCS “San Raffaele Pisana” Tosinvest Sanità, Roma, Italy
Steven A. Gard Department of Physical Medicine and Rehabilitation, Feinberg
School of Medicine, Northwestern University Prosthetics-Orthotics Center
(NUPOC), Chicago, IL, USA
Department of Physical Medicine and Rehabilitation, Feinberg School of Medicine,
Northwestern University, Chicago, IL, USA
Jesse Brown VA Medical Center, Department of Veterans Affairs, Chicago, IL, USA
Tom Gardner Bangor University, Bangor, North Wales, UK
Ismat Ghanem Laboratory of Biomechanics and Medical Imaging, Faculty of
Medicine, University of Saint-Joseph, Mar Mikhael, Beirut, Lebanon
Hôtel-Dieu de France Hospital, University of Saint-Joseph, Beirut, Lebanon
Claudia Giacomozzi Department of Cardiovascular Diseases, Dysmetabolic Dis-
eases and Ageing, Italian National Institute of Health, Rome, Italy
Werner Goebl Department of Music Acoustics – Wiener Klangstil (IWK), Uni-
versity of Music and Performing Arts Vienna, Vienna, Austria
Brian D Goodwin Neuroscience Research Labs – Research 151, Medical College
of Wisconsin, Zablocki VA Medical Center, Milwaukee, WI, USA
Arnaud Gouelle Gait and Balance Academy, ProtoKinetics, Havertown, PA, USA
Hans Gray Department of Mechanical Engineering, The University of Melbourne,
Parkville, VIC, Australia
Shanyuanye Guan Department of Mechanical Engineering, The University of
Melbourne, Parkville, VIC, Australia
Ikhsanul Habibie School of Informatics, University of Edinburgh, Edinburgh, UK
Joseph Hamill Department of Kinesiology, University of Massachusetts, Amherst,
MA, USA
Andrew Hansen Minneapolis VA Health Care System, Minneapolis, MN, USA
University of Minnesota, Minneapolis, MN, USA
Contributors xxxiii

Aoife Healy Life Sciences and Education, Staffordshire University, Stoke On

Trent, UK
Laura A. Held Department of Biological Sciences, University of Southern Cali-
fornia, Los Angeles, CA, USA
John Henley Nemours A.I. duPont Hospital for Children, Wilmington, DE, USA
Kasee J. Hildenbrand Athletic Training Program, Washington State University,
Pullman, WA, USA
Adrian Hilton Centre for Vision Speech and Signal Processing (CVSSP), Univer-
sity of Surrey, Surrey, UK
Edmond S. L. Ho Department of Computer and Information Sciences, Northum-
bria University, Newcastle upon Tyne, UK
At L. Hof Center for Human Movement Sciences and Laboratory of Human
Movement Analysis, Department of Rehabilitation, University Medical Center Gro-
ningen, Groningen, The Netherlands
Daniel Holden School of Informatics, University of Edinburgh, Edinburgh, UK
H. Houdijk Faculty of Behavioral and Movement Sciences, Vrije Universiteit
Amsterdam, Amsterdam Movement Sciences, Amsterdam, The Netherlands
Heliomare Rehabilitation, Research and Development, Wijk aan Zee, The
Netherlands
Cheryl L. Hubley-Kozey School of Physiotherapy, Faculty of Health Professions,
Dalhousie University, Halifax, NS, Canada
School of Biomedical Engineering, Faculty of Medicine, Dalhousie University,
Halifax, NS, Canada
Nova Scotia Health Authority, Halifax, NS, Canada
François Hug Laboratory “Movement, Interaction, Performance” (EA4334), Uni-
versity of Nantes, Nantes, France
NHMRC Centre of Clinical Research Excellence in Spinal Pain, Injury and Health,
School of Health and Rehabilitation Sciences, The University of Queensland,
Brisbane, QLD, Australia
Patria A. Hume Auckland University of Technology, Auckland, New Zealand
T. IJmker Faculty of Behavioral and Movement Sciences, Vrije Universiteit
Amsterdam, Amsterdam Movement Sciences, Amsterdam, The Netherlands
Ellen Jaspers Neural Control of Movement Lab, ETH Zurich, Zurich, Switzerland
Sophie Jörg School of Computing, Clemson University, Clemson, SC, USA
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