Lecture 6

Wednesday March 1st

Dr. Moran

Lecture Outline
Review Sheet for Midterm
Recap of 3D Kinematics
Where we left off

Matrix Method
Joint Angle Computation
Euler Angles vs Cardan Angles
Joint Coordinate System
Finite Helical Angles

4x4 Matrix Applications

Anatomical Calibration: location of anatomical axes of
rotation can be determined to global marker locations through accurate
calibration

Reflective Marker Wand (dimensions known)

Joint Rotation: Rotation of the knee, for example, can be

described by the knee joint center plus the motion of the shank relative to
motion of the thigh.

Virtual Points: It may be impossible to place markers at all the

key locations (e.g. the hip joint center), therefore a calibration procedure
facilitates hidden landmark identification.

Rotation Matrix
Recall this is the 3x3 inner matrix (lower right elements)
of the 4x4 Tmatrix
To generate the 3x1 vectors comprising the rotation
matrix the unit vector of the local CS axes in the global
CS are used.
Dividing each vector by its length (to get the unit
vector) gives the cosine of the angle that the vector
makes with each axes of the global CS
Thus these are known as DIRECTION ANGLES and
the DIRECTION COSINES

Rotation Matrix
(Continued)
cosXx cosXy cosXz
[R] = cosYx cosYy cosYz
cosZx cosZy cosZz
What do the elements mean?
Ex: cosXy means the cosine of the angle formed by the X-axis of
global CS and the y-axis of local-CS
Why are direction cosines useful?
If the rotation matrix is known for a local CS, then it is possible to
determine the angles between the local and global axes

Pure Rotation
A Simple Example (rotation about the Z-axis)
Y

You have point Ps coordinate in the

local CS, how can you get it
coordinates in the global CS?

(Px,Py)
X
alpha

90-alpha

alpha

Black = global
Red = local

First the DIRECTION COSINES:

X

Local x WRT Global X: cos (alpha)

Local x WRT Global Y: cos (90 -alpha)
Local y WRT Global X: cos (90 + alpha)
Local y WRT Global Y: cos (alpha)

Pglobal = cos (alpha)

cos (90-alpha)

cos (90+alpha)
cos (alpha)

Px
Py

= [R] [Plocal]

Pure Rotation
(continued)

Ex: What would be the global coordinates

of P if the local coordinates are [3,1] and
the local CS is rotated about the z-axis 25
degrees?
Pglobal = cos (25)

cos (90+25)

cos (90-25)

cos (25)

3
1

Pglobal = .9063

-.4226

= 2.30

.4226

.9063

2.17

Translation & Rotation

To convert a points coordinate from one
CS to another, a similar principle is applied
except that the 4x4 transformation matrix
is multiplied by the 4x1 point. A 1 is
element 1 for the above the x,y,z point
coordinates
The 4x4 transformation matrix is known as a
HOMOGENEOUS TRANSFORM

Manipulation of Transformation Matrices

The general goal of transformation algorithms is to convert the

motion of global 3D coordinates to meaningful relative rotations of
two bodies. Some tools are needed to ease the manipulation of the
transformation matrices:
Position Matrix: a transformation from local (body 1 or 2) to global coordinates
[ TG1 ], [ TG2 ],
Local Transformation Matrix: a transformation in local coordinates from one
body to another
[ T12 ]
Displacement Matrix: a transformation in global coordinates from one body to
another
[ D12 ]

Common Problems
Transformation Matrices
1.) Given global coordinates of two bodies, find relative position in local
reference frame
Given: [ TG1 ], [ TG2 ]
Wanted: [ T12 ]
Solution: [ T12 ] = [ TG1 ]-1 [ TG2 ]

BO
D

Y1

Y2
D
BO

T12

TG1
GLOBAL

TG2

Common Problems
Transformation Matrices
2.) Given global coordinates of one body and its relative position to
another body, find global coordinates of second body
Given: [ TG1 ], [T12]
Wanted: [ TG2]
Solution: [ TG2] = [ TG1 ] [T12]-1
3.) Given global coordinates of two bodies, find displacement matrix
between bodies (assume it is the SAME body but at 2 different
points in time)
Given: [ TG1 ], [TG2]
Wanted: [ D12]

Common Problems
Transformation Matrices
3.) cont

d
o
B

1
y

2
e
tim

y1
d
Bo

1
e
tim

Consider point P ( ):
GLOBAL

[PG1] = [TG1] PB1

[PG2] = [TG2] PB1
[TG1]-1 [PG1] = [TG2]-1 [PG2]
[TG2] [TG1]-1 [PG1] = [PG2]
[D12] = [TG2] [TG1]-1

NOTE: this is different than [T12] which relates LOCAL points b/c this relates GLOBAL points

Joint Angles
Methods Used Within Biomechanics
Euler/Cardan Angles
Joint Coordinate System
Helical Axes

Each method has specific advantages and

disadvantages and the best method to use for a
project depends on numerous factors

Eulers Angles

Leonhard Euler (1707-1783)

3D finite rotations are non-commutative

They must be performed in specific ORDER

Ex: book on desk

The order of rotations is precisely described

in biomechanics depending on the application

http://www-history.mcs.st-andrews.ac.uk/PictDisplay/Euler.html

12 possible sequences of rotations

First rotation defined relative to a GLOBAL axis

Third rotation defined about an axis in rotating
body (LOCAL)
Second rotation defined about a floating axis in
the second body
Ex: (Xglobal, Ylocal, Xlocal)
When the terminal rotation is the same it is
known as an EULER ROTATIONS (6)
When the terminal rotations are NOT the same
these are considered CARDAN ROTATIONS (6)

http://www.strubi.ox.ac.uk/strubi/fuller/docs/spider2003/euler.gif

.
Z

Common Cardan Sequence

in biomechanics studies

Xyz sequence

Rotation about medially-directed X axis (Global CS)

Rotation about anteriorly-directed y axis (Local CS)
Rotation about vertical axis (Local CS)
See Fig 2.12 in text

This sequence chosen to represent joint angles and recommended

within biomechanics (Cole et al., 1993)
Rotations occur about: flexion-extension axis, ab/adduction axis, and axial
rotation

Major Disadvantage: Gimbal Lock when middle rotation equals /2

it results in mathematical singularity and causes computational
problems

Cardan Sequence Application

Movement of a joint is defined as the
motion of the distal (far) segment to the
proximal segment (near)
Ex (knee):

thigh (proximal segment)

Shank (distal segment)
Find TTS
Decompose rotation matrix into the three Cardan
angles of flexion-extension, ab-adduction, axial
rotation

Joint Coordinate System (JCS)

Grood & Suntay (1983)
Describe the motion of the knee joint

Purpose: to insure that all three rotations had

functional meaning for the knee
How is it different than an Euler/Cardan rotation?
NOT an orthogonal system
Two segment-fixed axes and a FLOATING axis

Essentially we must define the anatomical axes of interest from

bony markers, the clinical axes of rotation, and the origin of the joint
coordinate system for a complete analysis of motion

Helical Angles

Woltring (1985, 1991)

Another method to describe the
orientation (both rotation &
translation) between two reference
systems
Any two reference systems can be
matched up through a single
rotation and a translation about a
single axi
This axis does not necessarily
have to line up with one of the
axis of the local CS

Good for joints that are hinge-like

i.e. talocrural joint