A comprehensive three-dimensional dynamic model of the human head and trunk for estimating lumbar and cervical joint torques and forces from upper body kinematics

Medical Engineering and Physics

Volumn 34, Issue 5, 2012, Pages 640-649

  Vette, Albert H ^a,b   Yoshida, Takashi ^a,b   Thrasher, T Adam ^c   Masani, K ^b   Popovic, Milos R ^a,b  

^a UNIVERSITY OF TORONTO   (Canada)

^b TORONTO REHABILITATION INSTITUTE   (Canada)

^c UNIVERSITY OF HOUSTON   (United States)

Author keywords

Biomechanics; Body kinematics; Dynamic modeling; Head; Inverse dynamics; Joint forces; Joint torques; Spine; Trunk; Upper body

Indexed keywords

DYNAMIC MODELING; HEAD; INVERSE DYNAMICS; JOINT FORCES; JOINT TORQUES; SPINE; TRUNK; UPPER BODY;

BIOMECHANICS; BIOPHYSICS; DYNAMIC MODELS; ERGONOMICS; ESTIMATION; FORECASTING; RESEARCH; TORQUE;

THREE DIMENSIONAL;

ADULT; ARTICLE; CERVICAL SPINE; FORCE; GEOMETRY; HEAD; HUMAN; KINEMATICS; LUMBAR VERTEBRA; MALE; MATHEMATICAL ANALYSIS; MATHEMATICAL MODEL; PREDICTION; PRIORITY JOURNAL; THORAX; TORQUE; TRUNK;

ADULT; BIOMECHANICS; CERVICAL VERTEBRAE; HEAD; HUMANS; JOINTS; LUMBAR VERTEBRAE; MALE; MODELS, ANATOMIC; MOVEMENT; POSTURE; TORQUE; TORSO;

EID: 84861317472     PISSN: 13504533     EISSN: 18734030     Source Type: Journal    
DOI: 10.1016/j.medengphy.2011.11.023     Document Type: Article

References (67)

1. Goel V.J., Weinstein J.N. Biomechanics of the spine: clinical and surgical perspective 1990, CRC Press, Boca Raton, FL, [chapter 6].
2. Gagnon D., Larivière C., Loisel P. Comparative ability of EMG, optimization, and hybrid modelling approaches to predict trunk muscle forces and lumbar spine loading during dynamic sagittal plane lifting. Clinical Biomechanics 2001, 16:359-372.
3. Buchanan T.S., Lloyd D.G., Manal K., Besier T.F. Neuromusculoskeletal modeling: estimation of muscle forces and joint moments and movements from measurements of neural command. Journal of Applied Biomechanics 2004, 20:367-395.
4. Sun L.W., Lee R.Y.W., Lu W., Luk K.D.K. Modelling and simulation of the intervertebral movements of the lumbar spine using an inverse kinematic algorithm. Medical and Biological Engineering and Computing 2004, 42:740-746.
5. Wilkenfeld A.J, Audu M.L., Triolo R.J. Feasibility of functional electrical stimulation for control of seated posture after spinal cord injury: a simulation study. Journal of Rehabilitation Research and Development 2006, 43(2):139-152.
6. Kim J.Y., Mills J.K., Vette A.H., Popovic M.R. Optimal combination of minimum degrees of freedom to be actuated in the lower limbs to facilitate arm-free paraplegic standing. ASME Journal of Biomechanical Engineering 2007, 129:838-847.
7. Pandy M.G. Computer modeling and simulation of human movement. Annual Review of Biomedical Engineering 2001, 3:245-273.
8. Nakamura Y., Yamane K., Murai A. Macroscopic modeling and identification of the human neuromuscular network. Proceedings of the 28th IEEE EMBS Annual International Conference 2006, 99-105.
9. Murai A., Kurosaki K., Yamane K., Nakamura Y. Musculoskeletal-see-through mirror: computational modeling and algorithm for whole-body muscle activity visualization in real time. Progress in Biophysics and Molecular Biology 2010, 103(2-3):310-317.
10. Hansen L., de Zee M., Rasmussen J., Andersen T.B., Wong C., Simonsen E.B. Anatomy and biomechanics of the back muscles in the lumbar spine with reference to biomechanical modeling. Spine 2006, 31(17):1888-1899.
11. Bogduk N., Macintosh J.E., Pearcy M.J. A universal model of the lumbar back muscles in the upright position. Spine 1992, 17(8):897-913.
12. Orne D., Liu Y.K. A mathematical model of spinal response to impact. Journal of Biomechanics 1971, 4:49-71.
13. Liu Y.K., von Rosenberg D.U. The effects of caudocephalad (+Gz) acceleration on the initially curved human spine. Computers in Biology and Medicine 1974, 4:85-106.
14. Crisco J.J., 3rd, Panjabi M.M. The intersegmental and multisegmental muscles of the lumbar spine. A biomechanical model comparing lateral stabilizing potential. Spine 1991, 16(7):793-799.
15. Shirazi-Adl A., Parnianpour M. Nonlinear response analysis of the human ligamentous lumbar spine in compression. On mechanisms affecting the postural stability. Spine 1993, 18(1):147-158.
16. Granata K.P., Wilson S.E. Trunk posture and spinal stability. Clinical Biomechanics 2001, 16(8):650-659.
17. McGill S.M., Norman R.W. Effects of an anatomically detailed erector spinae model on L4/L5 disc compression and shear. Journal of Biomechanics 1987, 20(6):591-600.
18. Jäger M., Luttman A., Laurig W. Lumbar load during one-handed bricklaying. International Journal of Industrial Ergonomics 1991, 8:261-277.
19. McGill S.M. A myoelectrically based dynamic three-dimensional model to predict loads on lumbar spine tissues during lateral bending. Journal of Biomechanics 1992, 25(4):395-414.
20. Granata K.P., Marras W.S. An EMG-assisted model of loads on the lumbar spine during asymmetric trunk extensions. Journal of Biomechanics 1993, 26(12):1429-1438.
21. Granata K.P., Marras W.S. An EMG-assisted model of trunk loading during free-dynamic lifting. Journal of Biomechanics 1995, 28(11):1309-1317.
22. Daggfeldt K., Thorstensson A. The mechanics of back-extensor torque production about the lumbar spine. Journal of Biomechanics 2003, 36(6):815-825.
23. Nicholas S.C., Doxey-Gasway D.D., Paloski W.H. A link-segment model of upright human posture for analysis of head-trunk coordination. Journal of Vestibular Research 1998, 8:187-200.
24. Fard M.A., Ishihara T., Inooka H. Dynamics of the head-neck complex in response to the trunk horizontal vibration: modeling and identification. ASME Journal of Biomechanical Engineering 2003, 125:533-539.
25. Keshner E.A. Head-trunk coordination during linear anterior-posterior translations. Journal of Neurophysiology 2003, 89:1891-1901.
26. Schneider K., Zernicke R.F., Clark G. Modeling of jaw-head-neck dynamics during whiplash. Journal of Dental Research 1989, 68(9):1360-1365.
27. Garcia T., Ravani B. A biomechanical evaluation of whiplash using a multi-body dynamic model. ASME Journal of Biomechanical Engineering 2003, 125:254-265.
28. Panjabi M.M., Pearson A.M., Ito S., Ivancic P.C., Wang J.L. Cervical spine curvature during simulated whiplash. Clinical Biomechanics 2004, 19:1-9.
29. Cholewicki J., McGill S.M. Mechanical stability of the in vivo lumbar spine: implications for injury and chronic low back pain. Clinical Biomechanics 1996, 11(1):1-15.
30. Marras W.S. The future of research in understanding and controlling work-related low back disorders. Ergonomics 2005, 48(5):464-477.
31. Vanoncini M., Holderbaum W., Andrews B. Development and experimental identification of a biomechanical model of the trunk for functional electrical stimulation control in paraplegia. Neuromodulation 2008, 11(4):315-324.
32. Lambrecht J.M., Audu M.L., Triolo R.J., Kirsch R.F. Musculoskeletal model of trunk and hips for development of seated-posture-control neuroprosthesis. Journal of Rehabilitation Research and Development 2009, 46(4):515-528.
33. Masani K., Sin V., Vette A.H., Thrasher T.A., Kawashima N., Morris A., et al. Postural reactions of the trunk muscles to multi-directional perturbations in sitting. Clinical Biomechanics 2009, 24(2):176-182.
34. Thrasher T.A., Sin V.W., Masani K., Vette A.H., Craven B.C., Popovic M.R. Responses of the trunk to multidirectional perturbations during unsupported sitting. Journal of Applied Biomechanics 2010, 26(3):332-340.
35. White A.A., Panjabi M.M. Clinical biomechanics of the spine 1990, Lippincott Williams & Wilkins, Philadelphia, Pennsylvania, [chapters 1-2]. 2nd ed.
36. Panjabi M.M., Brand R.A., White A.A. Three-dimensional flexibility and stiffness properties of the human thoracic spine. Journal of Biomechanics 1976, 9:185-192.
37. Gardner-Morse M.G., Stokes I.A.F. Structural behavior of human lumbar spinal motion segments. Journal of Biomechanics 2004, 37:205-212.
38. Gardner-Morse M.G., Stokes I.A.F. Trunk stiffness increases with steady-state effort. Journal of Biomechanics 2001, 34:457-463.
39. Cholewicki J., Juluru K., McGill S.M. Intra-abdominal pressure mechanism for stabilizing the lumbar spine. Journal of Biomechanics 1999, 32:13-17.
40. Preuss R., Fung J. Musculature and biomechanics of the trunk in the maintenance of upright posture. Journal of Electromyography and Kinesiology 2008, 18(5):815-828.
41. Denavit J., Hartenberg R.S. A kinematic notation for low-pair mechanisms based on matrices. ASME Journal of Applied Mechanics 1955, 23:215-221.
42. Vette A.H., Yoshida T., Thrasher T.A., Masani K., Popovic M.R. A complete, non-lumped, and verifiable set of upper body segment parameters for three-dimensional dynamic modeling. Medical Engineering and Physics 2011, 33(1):70-79.
43. Kim JY. '3D dynamic modeling, control synthesis, and controllability analysis for FES-assisted paraplegic standing'. M.A.Sc. thesis, University of Toronto, Canada; 2005.
44. Hollerbach J.M. A recursive Lagrangian formulation of manipulator dynamics and a comparative study of dynamics formulation complexity. IEEE Transactions on Systems, Man, and Cybernetics 1980, 10(11):730-736.
45. Vette A.H., Sanin E., Bulsen A., Morris A., Masani K., Popovic M.R. A portable and automated postural perturbation system for balance assessment, training, and neuromuscular system identification. ASME Journal of Medical Devices 2008, 2(4). 041007-1-9.
46. Angeloni C., Cappozzo A., Catani F., Leardini A. Quantification of relative displacement of skin- and plate-mounted markers with respect to bones. Journal of Biomechanics 1993, 26:864.
47. Karlsson D., Tranberg R. On skin movement artifact: resonant frequencies of skin markers attached to the leg. Human Movement Science 1999, 18:627-635.
48. Manal K., McClay I., Stanhope S., Richards J., Galinat B. Comparison of surface mounted markers and attachment methods in estimating tibial rotations during walking. Gait and Posture 2000, 11:38-45.
49. Gilles M., Wing A.M., Kirker S.G. Lateral balance organisation in human stance in response to a random or predictable perturbation. Experimental Brain Research 1999, 124(2):137-144.
50. Robertson D.G.E., Caldwell G.E., Hamill J., Kamen G., Whittlesey S.N. Research methods in biomechanics 2004, Human Kinetics, Champaign, IL, [chapter 2].
51. Craig J.J. Introduction to robotics - mechanics and control 2004, Addison-Wesley, New York City, NY, [chapters 2, 5 & 6]. 3rd ed.
52. Areblad M., Nigg B.M., Ekstrand J., Olsson K.O., Ekstrom H. Three-dimensional measurements of rearfoot motion during running. Journal of Biomechanics 1990, 23:933-940.
53. Cole G.K., Nigg B.M., Ronsky J.L., Yeadon M.R. Application of the joint coordinate system to three-dimensional joint attitude and movement representation: a standardization proposal. ASME Journal of Biomechanical Engineering 1993, 115:344-349.
54. Crawford N.R., Yamaguchi G.T., Dickman C.A. Methods for determining spinal flexion/extension, lateral bending, and axial rotation from marker coordinate data: analysis and refinement. Human Movement Science 1996, 15:55-78.
55. Hatze H. The fundamental problem of myoskeletal inverse dynamics and its implications. Journal of Biomechanics 2002, 35:109-115.
56. Jensen R.K. Human morphology: its role in the mechanics of movement. Journal of Biomechanics 1993, 26(Suppl. 1):81-94.
57. Pearsall D.J., Reid J.G., Livingston L.A. Segmental inertial parameters of the human trunk as determined from computed tomography. Annals of Biomedical Engineering 1996, 24:198-210.
58. Winter D.A. Biomechanics and motor control of human movement 2005, John Wiley & Sons, New Jersey City, NJ, [chapter 3].
59. Gardner-Morse M.G., Stokes I.A.F., Laible J.P. The role of muscles in stability of the lumbar spine. Journal of Orthopaedic Research 1995, 13:802-808.
60. Weerdesteyn V., Laing A.C., Robinovitch S.N. Automated postural responses are modified in a functional manner by instruction. Experimental Brain Research 2008, 186:571-580.
61. Driels M.R., Fan U.J., Pathre U.S. The application of Newton-Euler recursive methods to the derivation of closed form dynamic equations. Journal of Robotic Systems 1988, 5(3):229-248.
62. Asada H., Slotine J.J.E. Robot analysis and control 1986, Wiley, New York City, NY, [chapters 3 & 5].
63. Wood GD, Kennedy DC. Simulating mechanical systems in Simulink with SimMechanics; 2003 [20.06.10]. http://www.mathworks.com/matlabcentral/fx_files/2871/1/SimMechanics.pdf.
64. Kiemel T., Elahi A.J., Jeka J.J. Identification of the plant for upright stance in humans: multiple movement patterns from a single neural strategy. Journal of Neurophysiology 2008, 100:3394-3406.
65. Vette A.H., Masani K., Nakazawa K., Popovic M.R. Neural-mechanical feedback control scheme generates physiological ankle torque fluctuation during quiet stance. IEEE Transactions on Neural Systems and Rehabilitation Engineering 2010, 18(1):86-95.
66. Vette A.H., Masani K., Kim J.Y., Popovic M.R. Closed-loop control of functional electrical stimulation-assisted arm-free standing in individuals with spinal cord injury: a feasibility study. Neuromodulation 2009, 12(1):22-32.
67. Kim J.Y., Popovic M.R., Mills J.K. Dynamic modeling and torque estimation of FES-assisted arm-free standing for paraplegics. IEEE Transactions on Neural Systems and Rehabilitation Engineering 2006, 14(1):46-54.