Biomechanics-

Motion analysis
Lecture notes
Physiotherapist

László Bencsik
(Kiss Rita M.)

Budapest 2015
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ISBN 978-963-420-904-1

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Schedule of the term
• 1st week, Motivation, Historical background
• 2st week, Basics in mechanics
• 3rd week, Motion Patterns
• 4th week, In vitro examination methods
• 5-6th week, In vivo examination methods
• 7th week, Midterm exam
• 8th week, Investigation methods of the spine
• 9th week, Applied motion analysis (guest lecturer)
• 10th week Walking analysis
• 11-12th week, Laboratory practice

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• [email protected]
• Materials can be downloaded
http://www.mm.bme.hu/~bencsik/education.h
tml
• Requriments during the term:
• Midterm exam should be passed
• Exam in the examperiod

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Course material, recommended text book(s),
professional literature and supplementary reading(s)
Obligatory:
Nordin M., Frankel V.H. Basic Biomechanics
of the Musculoskeletal System.
Lippincott Williams & Wilkins , 2001. 467 pages.
ISBN: 0683302477
Supplementary:
Nigg, B.M., MacIntosh, B.R., Mester, J.
Biomechanics and biology of movement.
Human Kinetics, 2000. 468 pages. ISBN: 0736003312.

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Motivation

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INTRODUCTION, DEFINITIONS

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 Defintion
• It is a part of biophisics, interdisciplinary
research
• Webster: Studies the mechanical backgound
of muscle activity and the related laws and
connections.
• Dorland: The laws of mechanics applied to
live organs especially for human locomotion.
• Nigg: The science which uses the knowledge
of mechanics for study the structure and the
operation of live organs.
 Task of biomechanis
• Analyzes all the anatomical, physiological,
psychological, mechanical issues which are
raised in the inner and outer movements;
• External biomechanics: It studies the
postion and the change of the postion of the
body in space and in time, which is visible by
an external observer.
• Inner biomechanics: Studies the
coordination of nerves/muscles during the
organization of the motion, the formation an
energetics of the motion pattern.
HISTORICAL BACKGROUND

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 Prehistory
Cave drawings,
from the culture
of ancient Peru,
ancient Greece
and Egypt
(decoration,
teaching)
Altimira-Cave
 Antiquity – greeks
• Hippocrates (BC. 460-437): handling of
fractures and dislocations, design of
mechanical reposition adjustment and
fixing device

Hippocrates scammonja (reposition of fractures)

 Antiquity – greeks
• Aristoteles (BC. 384-322), He is known as the father
of kinesiology. In three of his work (The part the
animals, The motion of animals, The progression of
the animals) he analized the operation of the muscles,
and different animal movement. He identified that the
rotational movements has important role in the
formation og translational movements. (The human
motion is transformation of rotational motions into
tranlational motions)
• Archimedes (BC. 287-212). Determined the
hidrostatic pressure which is connected to the floating
bodies, and worked on the simple determination and
calculation of the centre of mass of human bodies
 Antiquity – romans
• Galeneus (AD. 131-201), Studied the operating of
muscles as the doctor of gladiators from Pergamon. In
his book about movements of muscles he
distinguished the sensing and actuating nerves the
agonis and antagonist muscles defined the muscle
tone the diarthrosist and synarthrosit and the curvature
of the backbone the scoliosis.

Correction techniques– combined

application of elongatio and derotatio
Leonardo da Vinci and his era
• Da Vinci (1452-1519): His drawings was artistic and
scientificly accurate at the same time- the bones and
muscles were marked by letters. The modeling of the
shoulder joint and the hip joint as spherical joint is
belongs to his name. A the figure about the ratios of the
human body is the most famous biomechanical figure. In
his work he also studied the human motions esspecially
the walking, and he investigated the flying based the
laws of mechanics
 Leonardo da Vinci and his era
• Veselius(1514-1564)
Summerized the functional
anatomy of the organization, in
his work titled: The structure of
human body (De Humani
Corporis Fabrica). His famous
mistake the statically incorrect
representation of the pelvic
Galileo Galilei and his followers
• Galieo Galilei (1514-1642)
Based on the exact
oscillation time of pendulum,
he gave the heart rate with
length of the pendulum
• Harvey (1578-1657) In 1628
he proved that the blood is
circulating and the heart
ventricle push the blood
volume in one direction.
 Age of enlightenment
• Descartes (1596-1651)
• In his work about the formation of the human and
fouetus (Tractus Homine et Formatione Foetus) he
said that the people and animals are creatured by
the God, thus it is investigated by methods of
mechanic

In the spirit of Descartes

 Age of enlightenment
• Borelli (1608-1679) His
book about motion of the
animals is the first
biomechanics motivated
book which uses the
methods of geometry to
analyze the motion of the
animals, it presents the
functioning of the muscles
figures. For the center of
mass determination he
used principle of balance.
 Age of enlightenment
• Griamaldi (1618-1661) Reported the sound effects of the muscle-contraction.
• Cronne (1633-1684) Investigates the signaling between the brain and muscle
• Stensen (1648-1686) Laid basics of the operation of the muscles and prooved
that the heart is a muscle.
• Newton (1642-1727) Gave the basic dynamics anf motion analysis. He started
to use vector quantities, used the paralelogram method to summarize vectors.
• Bernoulli (1667-1748), Euler (1707-1783), Coulomb (1736-1806) in the XVIII.
Century they tried to determine the maximal and optimal quantity of the human
work using in the function of force the speed and time. Euler introduced the
notion of critical load, when the backbone loses the stability and it collapses.
• In the XVIII. Century research on the operation of muscle was continued Keill
(1674-1719) identified, that during musclecontraction the muscle will be shorter,
Whytt (1714-1766) proofed that the muscles can be stimulated by electricity.
 Till nowadays
• The main part
Motion analysis

• Big leap and and extensive development

Main results are grouped
Determination of center of mass
• Ernst Heinrich Weber (1795-1878), Wilhelm Eduard Weber
(1804-1891) and Eduard Friedrich Wilhelm Weber (1806-
1871) Developed a new method to calculate center of mass of
body. They identified that the center of mass is moving in
vertical direction during the walking.
• Harless (1820-1862) determied the center of gravity location
of individual body segments autopsy.
• Braune (1831-1892) and Fisher (1861-1917) Further
developed the work of Harles and they gave location of the
center of mass of the body segments and the whole body,
defined the three main plain of the human.
• Dempster (1905-1965) repeated the experiments of Braune
and Fisher with the investigation of dead bodies they gave
location of the center of mass, the inertia, the density of the
body segments
 Motion analysis, resources and
results
• Ernst Heinrich Weber (1795-1878), Wilhelm
Eduard Weber (1804-1891)and Eduard Friedrich
Wilhelm Weber (1806-1871) The work titled:
Mechanics of the human motion system (Die
Mechanik der menschlichen Gewerkzeuge) gave
the base for the analysis of muscle operations.
• DeBois Reymond (1818-1896) measured the
electric potential during the motion, created the
Electromyography (EMG)
• Daguerre (1787-1851) in 1837 invented the
photography, which makes possible the recording
of the human.
 Marey (1830-1904)
• Sequence of figure to record the
motion sequence
• Walking analysis
• Force measurement in support phase
• Chronophotography
 Muybridge (1831-1904)
• Coeval with Marey also worked with photoseuenves. He
summerized his work in two books whuch were titled (Animal
Locomotion), and (Animals in Locomotion)
• His most famous statement is During the running of a horse
there is a moment when none of legs of the horse thouches
the ground (STANFORD).
 Force measurement syystem
• Maray: In a given pont
• Carlet (1845-1892): can measure the
pressure on the foot in different points
(distribution measuremnt), and the
oscillation
System of nowadays– optics based
Electromagnet based
Ultrasound based systems

Individual sensors Sensor triplets

BASIC KNOWLEDGE ON
MECHANICS
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 Literature
Kocsis-Kiss-Illyés: Mozgásszervek
biomechanikája, Terc Kiadó, 2006. 2.
fejezet

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 Field of mechanics
• Statics: is the branch of mechanics that is
concerned with the analysis of loads
(force and torque, or "moment")
on physical systems in static equilibrium.
• Strength of materials: Defines
deformation and the stress in the loaded
structure
• Dinamics: Describe the motion and the
cause of the motion
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NOTATIONS USED FOR THE
DESCRIPTION OF THE HUMAN
MOTIONS
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 Dinamics

• Kinematics: Dealing with the description

of the motion. Not concerns on the cause
of the motion.

• Kinetics: Dealing with the cause of the

motion

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 Definitions
The motion of particles are
described in a reference
Moving body
frame in the function of time
– Point mass (no extension)
– Human motions, can be
descriped in complex ways,
while the position of the
segments respects to each
other is important.

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Kinematics

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 Newton Laws
• I. When viewed in an inertial reference frame, an object
either is at rest or moves at a constant velocity, unless
acted upon by an external force.
• II. (basic law of dynamics). The acceleration of a body is
directly proportional to, and in the same direction as,
the net force acting on the body, and inversely
proportional to its mass. Thus, F = ma, where F is the
net force acting on the object, m is the mass of the
object and a is the acceleration of the object.
F=m a /if the mass is constant
• III. (action – reaction). When one body exerts a force on a
second body, the second body simultaneously exerts a
force equal in magnitude and opposite in direction to that
of the first body.
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 Notions in mechanics
• Path: the way, where the body is moving
from point A to B
• Displacement: the vector quantity between
the starting point and the endpoint
(magnitude and direction) Path

• Time
• Velocity Displacement

• Acceleration Route

• Impulse I=m v
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 Parameters
• Distance – time parameters:
– Position of points
– Traveled distance between two momemt
– Time parameters

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 Parameterss
• Degrees of freedom
• Angle-like parameters
– Relative angle:
the orientation of the Relative angle
body segments respect
to each other
– Absolute angles: the
orientation of the body
Absolute angle
segments respect to the
Ángyán: Az emberi test mozgástana
coordinate frame

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Kinetics

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 Definition
• Kinetics- Dinamics deal with the effects of
forces during the acting on bodies. The
force is an effect which modifies the state
of the motion or effect deformation.

Force vector Acting line

BODY

Action point

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 Mass

– Whole body mass

– Fat mass (sinking into water, skinfol
measurement, bioelectric impedance
measurement)
– Fat-free body mas testtömeg
– Whole muscle mass (formulas)
– Body-Mass-Index (BMI kg/m2)

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 Center of mass
• Center of mass is the given supporting
point when the body stays in equlibrium

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Determination of the center of
mass

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 Histroical overview
• Borelli (scale)
• Weber brothers (point support a)
• Body segments studies:
– Harless: center of mass of 18 bodysegments with balancing
sinking of the volume
– Braune, Fisher (Meeh): Determined the center of mass, volume
density
– Fisher: Determination of inertias
• In-vivo investigations:
– Steinhaus: Borelli elve, for body segments
– Bernstein: reaction force measurement

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 Reaction force measurement
determination in one dimension
(cente of mass)

Ángyán: Az emberi test mozgástana

Sy1 determination
Center of mass of the board = measured weight(Sy1) x length / weight of the board

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 Reaction force (center of mass)
determination in one dimension II.

Ángyán: Az emberi test mozgástana

Sy2 determination
Center of mass of the man =
[(measured weight on the scale (Sy2) x length)-(Sy1 x l)]/ weight 48
 Reaction force measurement
(center of mass) determination in
two dimensions

Ángyán: Az emberi test mozgástana

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 Analytical, segmentation method
• Widespread algorithm, calculated from the
motion analysis
• Theoretical base: In the center of mass the
moment of the forces are zero
• Steps:
– Freeze
– Divide into segments (rigid bodies)
– Modelling of the segments, center of mass of part-
segments (models)

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 Methods I.
• Hanavan:
– Approximate with
geometrical bodies
– One dimensional
measurements for
each segments
– Egy dimenziós
méréssel egyes
szegmentumok
meghatározása
(determination of the
limbs) Ángyán: Az emberi test mozgástana 51
 Methods II.
• Dempster:
– Similar segments

Ángyán: Az emberi test mozgástana

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Determination

Ángyán: Az emberi test mozgástana 53

 Force
• Force (modify the motion of the body, or
load ot):
– Inner force:
• Almeoboid motion (chemical stimuli)
• Ciliated, flagellated motion
• Muscleforces (torque)

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 Muscle force
• Maximal force )
– Age
– Gender
– Page Difference
– Joint Situation
– Motivation
– Hardiness

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ANATOMIC BACKGROUND

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Literature

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Planes of Human

Transversal
plane

Sagital plane Frontal plane

Ángyán: Az emberi test mozgástana
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MOTIONPATTERNS

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 Defintions
• The muscles are working together as a group
Motion Pattern: A motion established by the
smooth operation of the muscles in space and
time
Motion element: Moving a joint in one direction,
The succesive activation of executive muscles in
space and time is genetically determined
Complex: built up by elementary motions, the
activation sequence is made up during the
motion learning.
Motion set: A set of elementary and complex
movement patterns, can be extended by
learning 60
 Muscle tone
• Muscles are always in stretched state, that muscle
tension is called muscle tone
• Muscle tone (residual muscle tension or tonus) is the
continuous and passive partial contraction of the
muscles, or the muscle’s resistance to passive stretch
during resting state
• Muscle tone can change:
– nerve Condition
– Hormonal status
– diseases

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 Forms of motion
• posture
• change of position
• locomotion

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 Posture
• Definition: The keeping in space of the relative
position of body or body segments respect to each other.
• The body and it’s muscles have determinative role
• Types:
– Standing
– Siting
– Laying

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 Posture - Standing
• Upright posture Cervical
(evolution) curvature

• Pillar of the spine Dorsal

curvature
(four bends)

Sacrum
curvature
Lumbar
curvature

Ángyán: Az emberi test mozgástana

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 Posture - Standing
• Resulting stresses:
– Normal force
(compress)
– Shear force
Shear force
(intervertebral disc,
vertebral archs) Normal force

Body weight

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 Posture- Standing
• The longitudinal axis
of the body :
– Shifting into the
direction of heel
– Problem of "Big Belly"

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 Posture-Standing
• Load transfer on foot (double curvature)
Flatfoot problem

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 Posture – Sitting
Torso
Direction of view
• The role is
increasing Upper arm
• Ergonomically Hip

correct seating
Knee
• Head forward
drive Ankle

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 Posture - Laying
• Minimum load
• Appropriate support
• Enhance the relaxation of muscles
• Upload intervertebral disc

Optimal position of the

hip joints should be
providedd

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 Posture changing
• Definition: the body changes the relative
positions of body parts respect to each other
• types:
 Speech (articulation, articulation, body
language)
 Movements by hand (writing)
• arm lift
• leg lift

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 Position changing
• Definition: The body center of gravity
moved respect to theglobal coordinate
system.
• types:
– walk
– running
– stop
– Sports movements

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 Human walking (Gait)
• The most commion locomotions
• Types
– Walk (there is a double support phase)
– Running (there is a flying phase, that is a moment
when neither foot is in contact with the ground)
• Motor , cyclic behavior
– A motor skill is a learned sequence of movements
that combine to produce a smooth
• Influencing factors:
– Type (body parameters)
– Learning (early childhood or re-learning)
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– Mood (excitation of the central nervous system)
 Phases of walking
Right leg Right leg
Support phase Swinging phase

Double support Double support

Simple support accelerate reducing

first second
rolling rolling

heel whole heel Toe mid Heel strike

strike foot lifting lifting

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 Walking
Cyclic symmetric motion because each section is
repeated following each other.

Basics of gait analysis:

step cycle, which is the whole limb movement period,
the limb heel strike until the next heel strike,
sections:
Support phase
Swing phase

step, which hold from one of the leg’s heel strike until the other limb’s heel strike

[Szendrői M (szerk): Ortopédia]

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 Kinematical description of gait
• Distance-time
parameters:

Step width
Step cycle width
– Stride length
– Step Cycle Length
– step width
– Cycle step width
Step Length
– The length of the
time
Step cycle length

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 Kinematical description of gait
• Angle-type parameters:
– Ankle, knee, hip angles can be measured in different
planes (in terms of angles)
– Body segment’s characteristic angle between vectors
(relative angles)

180 + b

180 - a

Knee angle Hip angle 76

 Kinematical description of gait

• Angle type paramteres

– Angle of some segments respect to the global or local
coordinate system of segments (Euler angles)
(absolute angles)

Angle of shank 77
 Kinematical description of gait

• Reaction force changing in time

F1: Heel strike

F2: Whole foot
F3: Heel lifting
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 Gait- motion pattern of walking
The implementation
of the individual
gait characteristics:
• maintaining a
balance
• Coordination
between the two
sides
• Keep rythm of
walking

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