Abstract
The objective of the work is to compare and improve the accuracy of existing methods for the computation of rigid body parameters from positions, velocities and accelerations of a set of non colinear anatomical landmarks. Instead of the common Euler angles, Cardan angles or Bryant angles, the results are expressed in terms of the screw axis parameters (i.e. axis versor and rotation angle). In clinical analysis the physical meaning of this axis is surely better understood than the named angles. The paper summarizes also the main steps of noteworthy algorithms for the extraction of finite and infinitesimal screw motion parameters from noisy measurements of markers positions, velocities and accelerations. The sensitivity to data errors of the methods reviewed has been investigated by means of numerical tests. A commercial human motion analysis was also used for the field testing.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
E. Pennestrì, E. A. Renzi, P. Santonocito, Dynamic modeling of the human arm, with video-based experimental analysis, Multibody System Dynamics, 7:389–406, 2002.
G.G. Mozzi del Garbo. Discorso matematico sopra il rotamento dei corpi Neaples, 1763.
O. Bottema, B. Roth. Theoretical Kinematics. North Holland, Amsterdam, 1979.
C.H. Suh, C.W. Radcliffe. Kinematics and Mechanisms Design. John Wiley and Sons, New York, 1978.
Pennestri, E. Technical and Computational Dynamics. Casa Editrice Ambrosiana, Milano, 2001. (in Italian)
H. Cheng, K.C. Gupta. An Historical Note on Finite Rotations, ASME Journal of Applied Mechanics, 56:139–145, 1989.
F.E. Veldpaus, H.J. Woltring, L.J.M.G. Dortmans. Least Squares Algorithm for the Equiform Transformation from Spatial Marker Coordinates, Journal of Biomechanics, 21:45–54, 1988.
C.W. Spoor, F.E. Veldpaus. Rigid Body Motion Calculated from Spatial Coordinates of Markers, Journal of Biomechanics, 13:391–393, 1980.
H.J. Woltring, R. Huiskes, A. de Lange, F.E. Veldpaus. Finite Control and Helical Axis Estimation from Noisy Landmark Measurements in the Study of Human Joint Kinematics, Journal of Biomechanics, 18:379–389, 1985.
T.A.G. Heeren, F.E. Veldpaus. Optical System to Measure to End Effector Position for On-Line Control Purposes, International Journal of Robotics Research, 11:53–63, 1992.
A.J. Laub, G.R. Shifflett. Linear Algebra Approach to the Analysis of Rigid Body Displacement from Initial and Final Position Data, ASME Journal of Applied Mechanics, 49:213–216, 1982.
G.R. Shifflett, A.J. Laub. The Analysis of Rigid Body Motion from Measured Data, ASME Journal of Dynamic Systems, Measurement and Control, 117:578–584, 1995.
Gupta K.C., Chutakanonta P. Accurate Determination of Object Position from Imprecise Data, ASME Journal of Mechanical Design, 120:559–564, 1998.
Beggs, J.S. Kinematics. Hemisphere, Washington D.C., 1983.
Gupta, K.C. Measures of Positional Error for a Rigid Body, ASME Journal of Mechanical Designl 19:346–348, 1997.
Park, F.C. Distance Metrics on the Rigid-Body Motions with Applications to Mechanical Design, ASME Journal of Mechanical Design, 117:48–54, 1995
Sommer, H.J. Determination of First and Second Order Instant Screw Parameters from Landmark Trajectories ASME Journal of Mechanical Design, 114:274–282, 1992.
Angeles, J. Spatial Kinematic Chains. Springer Verlag, Berlin, 1982.
Campanacci, G. Review and development of algorithms for the computattion of screw parameters from experimentally measured motions, Tesi di Laurea, Università degli Studi di Roma Tor Vergata, 2000. (in italian)
Angeles J. Automatic Computation of the Screw Parameters of Rigid Body Motions. Part I: Finitely-Separated Positions, ASME Journal of Dynamic Systems, Measurement and Control, 108:32–38, 1986.
Angeles, J. Automatic Computation of the Screw Parameters of Rigid Body Motions. Part II: Infinitesimally seprated Positions, ASME Journal of Dynamic Systems, Measurement and Control, 108:39–43, 1986.
Angeles, J. Computation of Rigid-Body Angular Acceleration from Point-Acceleration Measurements, ASME Journal of Dynamic Systems, Measurement and Control 109:124–127, 1987.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Wien
About this paper
Cite this paper
Tarantino, U., Perugia, D., Campanacci, G., Pennestrì, E. (2004). Computation of Rigid Body Motion Parameters from Video-Based Measurements. In: Pascolo, P.B. (eds) Biomechanics and Sports. CISM Courses and Lectures, vol 473. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2760-5_3
Download citation
DOI: https://doi.org/10.1007/978-3-7091-2760-5_3
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-21210-3
Online ISBN: 978-3-7091-2760-5
eBook Packages: Springer Book Archive