Lecture

Gait Kinematics: Frames in Biomechanics

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In course

BIOENG-404: Analysis and modelling of locomotion

The lecture presents an overview of the state of the art in the analysis and modeling of human locomotion and the underlying motor circuits. Multiple aspects are considered including neurophysiology, gait characterization, biomechanics, numerical modeling, ...

Description

This lecture delves into the different frames used in biomechanical analysis, including Global Frames (GF) which serve as a fixed laboratory reference, Local Frames (LF) attached to moving bodies, and Technical Frames (TF) associated with bony segments. Practical considerations such as marker tracking errors are discussed, along with the Anatomical Frame (AF) rigidly linked to bony segments through anatomical landmarks. Examples illustrate the application of these frames in defining vectors and planes, emphasizing the importance of accurate frame attachment for precise movement analysis.

Instructors (3)

Kamiar Aminian

Kamiar Aminian received the M.S. degree in electrical engineering in 1982, the Ph.D degree in biomedical engineering in 1989 and the Postgraduate degree on technical computing in 1993 from Ecole Polytechnique Fédérale de Lausanne (EPFL). He was assistant professor (1994-1996) with Sharif University of Technology (Tehran). He joint EPFL in 1996 where he is currently Professor of medical instrumentation and the director of the Laboratory of Movement Analysis and Measurement in the Institute of Bioengineering of EPFL. His research interests include methodologies for human movement monitoring and analysis in real world conditions mainly based on wearable technologies and inertial sensors with emphasis on gait, physical activity and sport. His research aims to perform outcome evaluation in orthopaedics, to improve motor function and intervention programs in aging and patients with movement disorders and pain, and to identify metrics of performance in sport science. Kamiar Aminian is a member of the International Society of Posture and Gait Research, the Institute of Electrical and Electronics Engineers, the European Society of Movement Analysis in Adults and Children, the Prevention of fall Network Europe, the Intentional Society of Biomechanics and the President of the 3D analysis of the human movement group. He is author or co-author of more than 450 scientific papers published in reviewed journals and presented at international conferences and holds 10 patents related to medical devices. Full CV ORCID

Auke Ijspeert

Auke Ijspeert is a full professor at the EPFL, and head of the Biorobotics Laboratory (BioRob). He has a B.Sc./M.Sc. in physics from the EPFL (1995), and a PhD in artificial intelligence from the University of Edinburgh (1999). He carried out postdocs at IDSIA and EPFL, and at the University of Southern California (USC). He then became a research assistant professor at USC, and an external collaborator at ATR (Advanced Telecommunications Research institute) in Japan. In 2002, he came back to the EPFL as an SNF assistant professor. He was promoted to associate professor in October 2009 and to full professor in April 2016. His primary affiliation is with the Institute of Bioengineering, and secondary affiliation with the Institute of Mechanical Engineering. His research interests are at the intersection between robotics, computational neuroscience, nonlinear dynamical systems, and machine learning. He is interested in using numerical simulations and robots to get a better understanding of sensorimotor coordination in animals, and in using inspiration from biology to design novel types of robots and adaptive controllers. (see for instance Ijspeert et al Science 2007, Ijspeert Science 2014, and Nyakatura et al Nature 2019). He is also investigating how to assist people with limited mobility using exoskeletons and assistive furniture. He is regularly invited to give talks on these topics (e.g. TED talk given at TED Global Geneva, Dec 8 2015). With his colleagues, he has received paper awards at ICRA2002, CLAWAR2005, IEEE Humanoids 2007, IEEE ROMAN 2014, CLAWAR 2015, SAB2018, and CLAWAR 2019. He is an IEEE Fellow, member of the Board of Reviewing Editors of Science magazine, and associate editor for the IEEE Transactions on Medical Robotics and Bionics and for the International Journal of Humanoid Robotics. He has acted as an associate editor for the IEEE Transactions on Robotics (2009-2013) and for Soft Robotics (2018-2021). He was a guest editor for the Proceedings of IEEE, IEEE Transactions on Biomedical Engineering, Autonomous Robots, IEEE Robotics and Automation Magazine, and Biological Cybernetics. He has been the organizer of 7 international conferences (BioADIT2004, SAB2004, AMAM2005, BioADIT2006, LATSIS2006, SSRR2016, AMAM2019), and a program committee member of over 50 conferences.

Official source

Related concepts (14)

Inertial frame of reference

In classical physics and special relativity, an inertial frame of reference (also called inertial space, or Galilean reference frame) is a frame of reference not undergoing any acceleration. It is a frame in which an isolated physical object—an object with zero net force acting on it—is perceived to move with a constant velocity or, equivalently, it is a frame of reference in which Newton's first law of motion holds.

Gait (human)

A gait is a manner of limb movements made during locomotion. Human gaits are the various ways in which humans can move, either naturally or as a result of specialized training. Human gait is defined as bipedal forward propulsion of the center of gravity of the human body, in which there are sinuous movements of different segments of the body with little energy spent. Varied gaits are characterized by differences such as limb movement patterns, overall velocity, forces, kinetic and potential energy cycles, and changes in contact with the ground.

Gait analysis

Gait analysis is the systematic study of animal locomotion, more specifically the study of human motion, using the eye and the brain of observers, augmented by instrumentation for measuring body movements, body mechanics, and the activity of the muscles. Gait analysis is used to assess and treat individuals with conditions affecting their ability to walk. It is also commonly used in sports biomechanics to help athletes run more efficiently and to identify posture-related or movement-related problems in people with injuries.

Gait

Gait is the pattern of movement of the limbs of animals, including humans, during locomotion over a solid substrate. Most animals use a variety of gaits, selecting gait based on speed, terrain, the need to maneuver, and energetic efficiency. Different animal species may use different gaits due to differences in anatomy that prevent use of certain gaits, or simply due to evolved innate preferences as a result of habitat differences.

Biomechanics

Biomechanics is the study of the structure, function and motion of the mechanical aspects of biological systems, at any level from whole organisms to organs, cells and cell organelles, using the methods of mechanics. Biomechanics is a branch of biophysics. In 2022, computational mechanics goes far beyond pure mechanics, and involves other physical actions: chemistry, heat and mass transfer, electric and magnetic stimuli and many others.

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