Instantaneous center/axis of rotation for planar and three-dimensional motion

Kunz, Donald L.

doi:10.1177/03064190211051104

Cited by 1 publication

(3 citation statements)

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“…Kunz [40] describes a direct, analytical method to calculate the IAOR of a moving rigid body relative to a fixed coordinate system. For planar movements the ICOR (⃗ r C/O ) can be calculated using equation 1:…”

Section: Iaor Calcuation Methodsmentioning

confidence: 99%

“…One major advantage is that the ICOR can be determined for two moving body segments and consequently for a moving center / axis of rotation. Kunz [40] derived a direct, analytical method for calculating the ICOR for a three-dimensional rigid body relying on the linear and angular velocity of the body. The author provides a detailed description how to calculate the ICOR.…”

Section: Introductionmentioning

confidence: 99%

“…In this contribution we investigate the feasibility of the ICOR calculation method presented by Kunz [40] to identify the moving center of rotation from motion data for arbitrary joints in OpenSim. To verify the correctness of the approach, the moving axes/ centers of rotation were calculated using noisefree synthetic data and compared to the implementation of the respective joints in the model.…”

Section: Introductionmentioning

confidence: 99%

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IMU-based joint axis identification method for arbitrary joints in OpenSim - a simulation study

Wechsler,

Shanbhag,

Wartzack

et al. 2024

Preprint

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In musculoskeletal simulation, individualized joint axes enhance the accuracy and reliability of kinematic and kinetic simulation results. We investigated the correctness and performance of an analytical method for identifying the instantaneous axis of rotation between two bodies based on motion data in OpenSim. The instantaneous center of rotation is the point at which two bodies have the same velocity. The relative linear and angular velocity between the two bodies, as well as their relative position to each another, are required as inputs to calculate it. Using the instantaneous center of rotation, fixed or moving joint centers of rotation can be identified. To prove the general applicability of the method, the instantaneous centers of rotation of a revolute joint of a simple double pendulum model and the hip and knee joint of a more complex musculoskeletal model were investigated. The hip joint is defined as a ball joint. The knee joint is defined as an OpenSim custom joint which describes the motion of the child segment in relation to the parent segment as a function of generalized coordinates. To verify the correctness of the approach in OpenSim, the moving centers of rotation were calculated using synthetic noisefree data. The results were compared to the implementation of the respective joints in the model which act as the ground truth. White Gaussian noise was added to the synthetic data to analyze its effect on the quality of the calculated centers of rotation. We were able to correctly identify the center of rotation of each joint using noisefree data. In the case of noisy data, joint centers of rotation can be determined by applying additional filtering or optimization methods to the calculated instantaneous centers of rotation. Consequently, we are able to determine the center of rotation for arbitrary joints based on noisy synthetic data. This approach is applicable for both fixed and moving centers of rotation which distinguishes it from commonly used methods in the field of biomechanical simulation.

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Section: Iaor Calcuation Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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