title: A three-dimensional kinematic and dynamic model of the lower limb.
abstract: A model describing the kinematics and dynamics of the lower limb is presented. The lower limb is modeled as a sequence of four rigid links connected by three universal rotary joints representing the hip, knee and ankle joints. Each joint is modeled as a sequence of three single axis rotational joints thus ascribing to the lower limb a total of 12 degrees of freedom. A method is described to measure the gait variables so that all nine angles can be computed based on the positions of nine markers placed on the subject during a gait study. The gait variables are then used in an iterative Newton-Euler formulation to compute the moments exerted about the axes of each joint during gait.
authors.affiliation: Institute of Biomedical Engineering, University of Toronto, Ontario, Canada.
authors.forename: J
authors.initials: J
authors.lastname: Apkarian
authors.forename: S
authors.initials: S
authors.lastname: Naumann
authors.forename: B
authors.initials: B
authors.lastname: Cairns
mesh_terms: D000328:Adult; D000843:Ankle Joint / Q000502:physiology; D002138:Calibration; D005260:Female; D005684:Gait; D006621:Hip Joint / Q000502:physiology; D006801:Humans; D007719:Knee Joint / Q000502:physiology; D007866:Leg / Q000502:physiology*; D008297:Male; D008432:Mathematical Computing; D008954:Models, Biological; D012399:Rotation