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KinTools RT 2 Tutorial

1. OM Head VERT MIDG 0 0694 0 362 0 376 0 312 UpperArm SIC EJC 0 0271 0 285 0 269 0 158 APS EJC WJC 0 0162 0 276 0 265 0 121 Hand WJC MET3 0 0061 0 628 0 513 0 401 Torso SUPR MDA 0 3229 0 328 0 306 0 169 Pelvis MIDA MIDH 0 1117 0 615 0 551 0 587 Thigh HJC KJC 0 1416 0 329 _0 329 0 149 Shank KIC AJC 0 0433 0 251 0 246 0 102 Foot HEEL TTIP 0 0137 0 257 0 245 0 124 Alternate Segments Note the information supplied below may not necessarily correspond with the sample models provided Head VERT CERV Trunk SUPR MIDH Trunk CERV MDH Trunk MIDS MDH UpperTrunk SUPR XYPH UpperTnnk CERV XYPH MiddleTrunk XYPH OMPH LowerTrunk OMPH MIDH Forearm EJC STYL Hand WIC DAC3 Hand STYL DAC3 Hand STYL MET3 Shank Shank 4 6 KinTools RT User s Manual Chapter 4 Mass Model Information and Details Calculate Kinetics Button Calculate Kinetics Using the Calculate Button Once the skeleton model is defined and the mass model information has been entered into the Mass Model Edit table a Kinetics analysis can now be performed There are three ways in which Kinetics can be calculated within Cortex 1 Calculate Kinetics button in the Mass Model Editor Calculate button located
2. R Toe L Toe R Heel L Heel Note This marker set is used in the Helen Hayes Marker Set samples found in Cortex Samples KinTools RT Examples Helen Hayes Marker Set and in the Helen Hayes Marker Set sample data found in Cortex Sam ples Helen Hayes Marker Set A 2 KinTools RT User s Manual Appendix A Marker Set Placement Modified Cleveland Clinic Marker Set Placement Figure A 2 Modified Cleveland Clinic Marker Set Placement _Anterior Left Head Medial Right Head gt e Posterior Left Head Sternum L Acromion co n R Acromion we j l l Pastariorishoulder 9 L Posterior Shoulder ee L Anterior Shoulder 23 R Anterior Shoulder gt A T8 L Humerus na i lt L Offset rd L Elbow Lateral L Elbow Medial R Humerus R Medial Elbow eo R Lateral Elbow L Forearm Sacrum R Lateral Wrist Pa 7 R Medial Wrist R Lateral Hand R Medial Hand L Greater Trochanter R Greater Trochanter ie R Thigh Cluster L Thigh Cluster rok R Lateral Knee R Medial Knee L Shank Cluster L Medial Ankle L Lateral Ankle lt R Lateral Ankle L Heel R Heel R Foot Lateral R Foot Toe R Foot Medial hy L Foot Lateral L Foot Toe L Foot Medial L Thigh Cluster R Thigh Cluster i gh Posterior b L Thigh Anteri Thigh Anterior c L Thigh Posterior R Thigh Inferior Hand Marker Abbrev L Lateral Wrist L
3. C eet C ae Calculate Virtual Markers New V Marker Definition Delete V Marker Definition A Virtual Marker is created Origin Marker has a fixed Long Axis Marker and Plane Long Axis and Origin relative to other markers distance to the Virtual Marker Origin Marker define a line Markers define a plane This form helps you define a Virtual Marker based on other markers The definition becomes a permanent part of the project once you Save Project A Virtual Marker s definition is used to calculate the Virtual Marker s position in each frame of a data set The Ratio relationships treat the offsets as a percentage of the distance between the defining markers The Value relationships treat the offsets as a distance from the defining markers Although there are many ways to define a joint center joint centers in KinTools RT will be defined by locating the boundaries of a joint i e medial and lateral landmarks and creating a landmark half the distance between those two markers In general joint centers can be defined by the following formula C Lin P Mn Len JC Lm p Mm Lm gt where C is the location of the joint center L is the lateral joint marker M m is the medial joint marker and p is the percentage offset between the lateral and medial joint markers 2 It is worth noting that the hip joint center is defined differently and will be discussed later A simple exam ple of this definition is the
4. Enter Name of Virtual Marker fV_left_knee _jc_static Calculate Virtual Markers Origin Marker Long Axis Marker 21 L Knee Long Axis 50 00 _ ae New V Marker Definition Delete V Marker Definition A Two Marker Ratio is used to define the Knee Joint Center with the L Knee lateral marker as the Origin Marker and the L Knee Medial me dial marker as the Long Axis Marker The joint center is located 50 of the distance between the two specified markers Notice that the Left Knee Joint Center above is defined by using the me dial joint marker During many Biomechanical studies the medial joint marker is removed after the static trial for various reasons This causes the Left Knee Joint Center definition to become undefined For this reason it is essential that another Virtual Marker be created in the same location that will allow us to track the location of the joint center during dynamic trials This second Virtual Marker or Dynamic Virtual Marker will use segmental markers assumed to be a fixed distance from the original joint center See Figure 3 4 Figure 3 4 The Dynamic Knee Joint Center Virtual Marker Virtual Marker Definitions Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio One Marker Value EMR Enter Name of Virtual Marker NL Knee_JC Snap to this Marker optional 31 V_L Knee_JC_Static Calculate Virtual Markers Origin Marker Long Axis Marker Plan
5. User s Manual Motion Analysis Corporation Software License Agreement Terms and Conditions Definitions The following terms are defined for the purpose of this Agreement as follows a Designated System means the specified computer system described on the facing of this agreement which Licensee has purchased from the Licensor b Licensed Program means the software program described on the facing page of this Agreement in object code form only any updates subsequently provided by License all permitted copies made by Licensee and all basic or related materials pertinent to such programs License Under a license granted under this Agreement License is authorized on a non exclusive basis to use the Licensed Program on the Designated System License shall refrain from taking any action such as reverse assembly or reverse compilation to derive a source code equivalent of the Licensed Program A license shall be valid until terminated under this Agreement The license fee is part of the purchase price of the Designated System Title The original and any copies of the Licensed Program in whole or in part which are made by Licensee are the property of Licensor Copies With each license Licensee may make one 1 copy of the Licensed Program in object code form only for use by Licensee with the Designated System for backup or archive purposes Licensee agrees to maintain records of each copy of the Licensed Program and
6. W Markers 29 VMarkers 16 fH Links 46 SkB Segments 3 Pelvis L Thigh MyNewSegment 1 Calcium Segments inactive Name MyNewSegment 1 Parent Segment GLOBAL Ongin Marker Top Head Long Axis Y Top Head Plane Accs XY Top Head RX Offset oO RY Offset 0 RZ Offset 0 RX Offset Rotation Angle The Rotational Gizmo is used to rotate the bone segment about the axis of interest If a rotation about the Z axis is desired for example grab the blue portion of the Rotational Gizmo and drag either in a clockwise or counterclockwise direction A rotation to the bone can also be applied manually by giving a value between 360 360 in the RX RY or RZ Offsets The process that was used to create the L Shank is the same process that needs to be followed to create each segment of the body Table 3 2 Seg mental Definitions on page 3 16 shows the Segment Name Parent Seg ment Origin Long Axis and Plane Markers and the RX RY and RY Rotational Offsets for the sample Helen Hayes data found in the Cor tex Samples KinTools RT Examples folder 3 15 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual Table 3 2 Segmental Definitions Segment Parent L Thigh Pelvis L Shank L Thigh L Foot L Shank Torso Pelvis L UpperArm Torso L Forearm L UpperArm L Hand L Forearm Note Note Segment Markers Offset deg Origin Long
7. Long Axis marker and Plane marker Third the user can freely rotate the bone about the X Y or Z axes using either the rotational gizmo or by manually inputting the rotational offsets Lastly a SkB model is simple to learn and edit A typical full body SkB skeleton can be created by a novice user in less than hour and the more experienced the user the less time it takes to create and edit the model SIMM OrthoTrak Skeleton Another type of skeleton that can be used in Cortex to calculate Kinetics is the SIMM Calcium skeleton formerly known as the SIMM OrthoTrak skeleton in EVaRT The SIMM Calcium skeleton was developed by MusculoGraphics the creators of SIMM and uses an enhanced Helen Hayes marker set Using the supplied mocap jnt file the user will supply Cortex with the Static Pose trial a k a the Init Pose and Cortex will scale the jnt file and therefore the model to the subject A description of how to create the SIMM Calcium model can be found in Chapter 7 Setup Tab in the Cortex User s Manual Please note that this skeleton is not user definable and the segmental mass properties 3 10 KinTools RT User s Manual Chapter 3 Building a Skeleton Builder Model Note Creating a Skeleton Model to Calculate Kinetics provided in the Mass Model Editor described later do not match the names of these segments Hybrid Skeleton The last type of skeleton we will discuss is called the Hybrid skeleton A Hybr
8. Medial Wrist L Shank Cluster R Shank Cluster g L shank Antenor R Sha h L Shank Posterior k R Shank Posterior i L Shank Inferior 1 R Shank Anterior 1 2 3 L Lateral Hand 4 LMedial Hand Note This marker set is used in the CC Sample Kinetics Data found in the Cor tex Samples Skeleton Builder Kinetics directory A 3 Appendix A Marker Set Placement KinTools RT User s Manual A 4 Overview of Calculations Appendix B Introduction Source of Forces and Moments on Segments Three Dimensional Inverse Dynamics Analysis Solving for the Unknowns Introduction The inverse dynamics engine in Cortex applies the physics analysis of Rigid Body Dynamics to calculate the forces and moments that occurs at the joints in a body These are the forces and moments that are necessary to make the motion of the body actually happen The basic physics for forces is ma X forces And for moments Euler s equation I w Xxlw X torques In Biomechanics the term moments is generally used instead of torques Here I will freely interchange the two because of the basic equation for torque uses both terms torque R xF where R is the moment arm vector In Cortex we calculate the forces and moments at the joint between each segment and its parent These are the forces and moments applied onto the segment by the segment s parent There are six values 3 forces 3 mo men
9. 00 ae eer OO eer Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Hide Help 3 8 KinTools RT User s Manual Chapter 3 Building a Skeleton Builder Model Figure 3 7 Left Hip Joint Center Virtual Marker Definitions Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio One Marker Value EMR Enter Name of Virtual Marker Origin Marker Long Axis Marker Plane Marker fV_LHip_Jc 34 V_Mid_ASIS 12 LASIS 13 V Sacral Long Axis 64 00 44 00 Perpendicular 68 00 SSE OOO EO OO eer Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Hide Help Figure 3 8 shows the V_R Hip_JC and V_L Hip_JC Virtual Markers cal culated using the Three Marker Value Virtual Marker definitions above and the markers used to create these Virtual Markers Figure 3 8 Right and Left Hip Joint Center Markers V_Mid_ASIS V Sacral RASIS lt _ LASIS V_R Hip_JC V_L Hipt_JC 3 9 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual Defining Skeleton Builder Segments Types of Skeletons used to Calculate Kinetics There are four different skeletal models that can be used in KinTools RT Calcium Skeleton Skeleton Builder Skeleton SIMM Calcium Skeleton Hybrid Skeleton PON Calcium Skeleton Calcium is a skeleton engine used primarily in ani mation applications that possesses three definin
10. Model Information and Details KinTools RT User s Manual Zatsiorsky Mass Model Data Mass and inertial properties for each segment are specified in this table along with the subject information name gender height and weight The published Zatsiorsky Seluyanov s segmental inertial data modified by de Leva is predefined in the Mass Model Editor although custom mass inertial information can be specified Data shown in this table corre spond to the sample data provided in the Cortex Samples folder where Z is the axis along the bone X is the mediolateral axis and Y is the anterio posterior axis In the Mass Model Editor the user will specify the subject name height weight and gender It also allows the user to choose from one of two op tions in specifying mass inertial information the Zatsiorsky mass inertial information described below or input Custom mass inertial information When the project file is saved the information input into the Mass Model Editor is stored and reloaded when the Mass Model Editor is launched The mass model information used in KinTools RT is taken from De Leva Paolo 1996 Adjustments to Zatsiorsky Seluyanov s segment inertia parameters J Biomechanics 29 1223 1230 but we plan to add more in the near future When the Zatsiorsky radio button is selected in the Mass Model Editor the predefined mass inertial information in KinTools RT will be loaded for the predefined segment names T
11. Walk1 cal Walk1 cap 4 W File Layouts Data Views Tools Help Ea 45 0 HipJointForce KneeJointPower HipJointAngle KneeJointAngle AnkleJointAngle AnkleJointMoment HipJointPower Gen Abs e R Hip Transverse Pla 0 41 Gen Abs 0 13 KneeJointMoment GRF KneeJointForce AnkleJointForce AnkleJointPower HipJointMoment TrunkPelvis L Hip Sagittal Plane Joint Power 143 Aok i i Gen Abs oF L Hip Frontal Plane Joint Power Wikg pad r aa leo Saved Capture C Program Files Motion Analysis Cortex2 Samples KinTools RT Cleveland Clinic MarkerSet 173 Frames feo FPS 2 Up Units mm Analoa 960 00 Hz j To use either or both models start by viewing the sample data provided in the Samples folder also part of the Cortex 2 software release When you run the Setup file for Cortex 2 you also the Samples and Tutorial data sets installed including this User s Guide from the Help gt Tutorials menu Load the Captures shown in each folder and get familiar with the marker names and the placement of the markers The Cleveland Clinic marker set uses cluster type markers on the upper and lower legs while the Helen Hayes marker set uses markers attached to the skin Sometimes viewed as minimal marker sets each one has advantages See the steps below for viewing the data in different ways in the 3D and Presentation Graphs panels of Cor
12. calculated from the static trial Steps 1 File gt Load the Static capture View and edit and save as needed No need to Calculate VMs or Skeletons as this is done in the Sky script in the next step 2 Tools gt Sky and select the sky script for either marker set or your modified version 2 3 Chapter 2 Using KinTools RT Models KinTools RT User s Manual Note From the Global Sky Scripts gt KinTools RT folder select either CC_StaticToDynamic sky for the Cleveland Clinic MarkerSet or HH_StaticToDynamic sky for the Helen Hayes MarkerSet 3 Click the Run button Center of the Sky scripting interface s top line If you make a mistake or are not sure load the static capture again and then run the Sky script again The script calculates the Virtual Marker locations and remembers the lo cations of the static markers with respect to the remaining dynamic mark ers It then updates and saves the MarkerSet file in the current folder You can see the steps as they happen in the middle bottom Output panel of the Sky scripting interface The Clear Output is the top right command to the right of the Run button 4 Process each dynamic trial File gt Load Capture Check VMs Skeleton Kinetics and click Cal culate Figure 2 2 Calculate Button with All Three Check Boxes Active 0 492 Suaa V VMs V Skeleton V Kinetics TT a 3 68 68 Calculate Kinetics Kinetics 2 4 K
13. knee joint The knee joint is defined by placing markers on the lateral and medial femoral condyles and then creating a joint center half way between these markers See Figure 3 2 on the next page for an example KinTools RT User s Manual Chapter 3 Building a Skeleton Builder Model Figure 3 2 Knee Joint Center Marker ee Medial Knee Knee Joint Center Lateral Knee The Lateral Knee and Medial Knee markers are used to define the Knee Joint Center marker A Two Marker Ratio Virtual Marker with the Lateral Knee marker set to the Origin Marker and the Medial Knee marker set to the Long Axis Marker The Knee Joint Center is located 50 of the dis tance between the Lateral Knee and Medial Knee markers To create the joint center illustrated in Figure 3 2 a Two Marker Ratio Virtual Marker is used This type of Virtual Marker definition is defined by locating the Origin and Long Axis Markers and then specifying the percent offset along the long axis from the Origin Marker see the formula on the previous page Figure 3 3 on page 3 4 uses the joint center defini tion from above to show how the Left Knee Joint Center is created using a Two Marker Ratio Virtual Marker 3 3 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual Figure 3 3 The Static Knee Joint Center Virtual Marker Virtual Marker Definitions Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio EMR
14. left on the Graph Ap pearance window Navigate to Cortex2 Samples KinTools RT Cleve land Clinic MarkerSet SkeletonBuilder_Gait graphs Note On WinXP this Cortex2 is located in the C Program Files Motion Anal ysis folder On Windows 7 and Windows Vista look in C Program Data Motion Analysis Cortex2 You will first need to make the Program Data folder visible See the Control Panel gt Search for Hidden Files select Hidden Files and Folders and then select Show Hidden Files and Folders Figure 2 5 Bottom Presentation Graphs for Entire Capture Time Cortex 38Cam Walk1 cal Walk1 cap DER J W Fie Layouts DataViews Tools Help ji 7 BA 4540 KneeJointMoment AnkleJointMoment HipJointPower KneeJointPower AnkleJointPower Trunk Pelvis GRF HipJointAngle KneeJointAngle AnkleJointAngle HipJointForce KneeJointForce AnkleJointForce HipJointMoment 65 40 Flex Ext 36 f 402030405060 7080901 0010203040506070 L Knee Valus Vargus Joint Angle deg A eeeeeseemeeneiemnenetieenieeineen ieee teimenemns n og Val Var Oss WAM 10203040506070 1020304050607080901 0010203040506070 0 1 64 gt omt eee z IR ER ey f NAN ie IR FER a in N i LAEN T 10203040506070 4102030405060 7080901 0010203040506070 leo Saved Capture C Program Files Motion Analysis Cortex2 Samples KinTools RT Cleveland Clini 173 Frames s0 FPS Z Up I Units mm Analoa 960 00 Hz Chapter 2 Using K
15. two Virtual Marker definitions for the same point only one of these will be used during the dynamic trials The Static Virtual Marker definition will still show up in the Marker Set list but will not be present in the 3D display The fact that the Static Virtual Marker is still in the Marker Set list will not affect the template The template used in Cortex uses only Real Markers that is physical markers that were ap plied to the body and not Virtual Markers Because the above process of creating joint centers can sometimes be rather confusing a summary is presented below Joint centers in KinTools RT require a two step process as shown in Fig ure 3 5 on page 3 6 1 Static Joint Center e Created from joint line markers 2 Dynamic Joint Center e Because medial and sometimes lateral markers are removed during the dynamic trial the Static Joint Center definition will become undefined Therefore a second Virtual Marker definition needs to be created to track the joint center location during the dynamic trial e Created from 3 markers rigidly attached to a segment Because the placement of these markers can vary offsets from these mark ers cannot be reliably input to find a joint center Therefore once 3 5 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual the 3 markers are attached to the body the Snap To feature will be used to place the Dynamic Joint Center in the same location as th
16. 95 28 8 p 995 8 Siston R A and S L Delp Evaluation of a new algorithm to determine the hip joint center J Biomech 2006 39 1 p 125 30 Bell A L R A Brand and D R Pedersen Prediction of hip joint center location from external landmarks Hum Mvmt Sci 1989 8 p 3 16 Bell A L D R Pedersen and R A Brand A comparison of the accuracy of several hip center location prediction methods J Biomech 1990 23 6 p 617 21 de Leva P Adjustments to Zatsiorsky Seluyanov s segment inertia pa rameters J Biomech 1996 29 9 p 1223 1230 D 1 Appendix D Works Cited KinTools RT User s Manual D 2 A Automating Marker Snap To 3 6 Body Segment Terminology 4 3 Bone Properties 3 13 C Calculate Kinetics Using a Sky Script 4 8 Using Calculate Button 4 7 Calculate Kinetics Button 4 7 Cleveland Clinic Marker Set Placement A 3 D Defining Joint Centers 3 1 E Exporting KinTools RT Data 4 13 G Graphical Analysis 4 8 H Helen Hayes Marker Set Placement A 2 Hybrid Skeleton 3 11 Inverse Dynamics Analysis 3 D B 2 J Joint Centers Defining 3 1 K Kinetics and Kinematics Options 4 12 Kinetics Display Box 4 11 KinTools RT Modeling 3 1 Overview 1 1 Knee Joint Center Marker 3 3 Knee Joint Center Virtual Marker Dynamic 3 4 Static 3 4 KinTools RT User s Manual L Landmark Locations 4 4 M Mass Inertial Information 4 5 Mass Model Editor 4 1 Motion An
17. Axis Plane RX RY RZ V_L Hip_JC V_L Knee_JC V_L Ankle_JC L Toe L Ankle 0 0 90 V_Pelvis_Origin L Shoulder L Elbow L Elbow L Wrist R Elbow 0 0 90 L Wrist V_L Hand R Wrist 0 0 90 V_L Knee_JC L Knee 0 0 90 V_L Ankle_JC L Ankle 0 0 90 R Shoulder 0 0 90 V_Mid_Shoulder R Shoulder 0 0 90 The Segment Parent Segment Origin Long Axis and Plane Markers that define the segment and the Rotational Offset in degrees for that seg ment found in the sample data Table 3 2 shows segmental information using the standard Helen Hayes marker set which only includes two markers per segment on upper ex tremity segments instead of the required three To create the upper ex tremity segments it was necessary to use a contralateral opposite limb joint marker as the plane marker The rotational offsets applied in Table B are such that the X mediolat eral axis for each bone are pointed to the subjects left with Z along the bone and Y either forward or backward This is the convention of my choosing and is not the only convention that can be used in Cortex We have chosen to include this convention because it corresponds with the common XYZ rotation sequence e X Flexion Extension e Y Abduction Adduction e Z Internal External Rotation The rotations applied to each segment were intended to align the segmen tal coordinate systems in effect setting the 0 angle for each joint 3 16 KinT
18. T User s Manual Figure 4 4 Calculate Button on the Post Process Dashboard Note Calculate Kinetics Using a Sky Script Viewing the Results of the KinTools RT Analysis Graphical Analysis of KinTools RT Data mwm fo 100 Skeleton 1 1 Kinetics Visible Selected C The Calculate button on the dashboard performs three separate functions calculate Virtual Markers calculate the defined Skeleton and calculate Kinetics This Calculate button was designed to work very smoothly with Skeleton Builder or KinTools RT so that once your mass model informa tion was defined for a particular subject you would no longer need to launch the Mass Model Editor to each time you wish to perform a Kinet ics analysis The Calculate Kinetics button located in the Mass Model Edit table only performs the Calculate Kinetics function and does not calculate the Vir tual Markers or Skeleton The final way you can calculate Kinetics in Cortex is using the Sky inter face See Chapter 14 Sky in the Cortex User s Manual for a description of Sky There are three Sky functions related to Kinetics 1 swKinetics_Calculate e Initiates the calculation of Kinetics data 2 swKinetics_SetFileFormatStyle e Specifies the file format of Kinetics data when exported 3 swKinetics_ExportKineticsFile e Exports Kinetics data to the format specified above These functions can be used to create a customizable Sky script to auto mate the proces
19. a mg Fy May Rzp Rza Fz MazRzp Rza Fz Maz where m is the segment mass and ay ay and az are the linear accelera tions of the segment center of mass After determining the proximal joint reaction forces the proximal joint moments can be determined using the formulas found in Three Dimensional Inverse Dynamics Analysis on page B 2 Chapter KinTools RT User s Manual 4 Appenaixc Sample Pictures Wy SPD e ANDY be p TN PPS a KETT ieee C 1 C 2 Appendix C Sample Pictures KinTools RT User s Manual ae at ae lilt A LN y yy ee ee TSA Appendix D Works Cited Winter D Biomechanics of Motor Control and Human Movement 3 ed 2005 Hoboken NJ John Wiley and Sons Inc Hamill J and W S Selbie Three Dimensional Kinetics in Research Methods in Biomechanics 2004 Human Kinetics Champaign IL p 145 160 Camomilla V et al An optimized protocol for hip joint centre determi nation using the functional method J Biomech 2006 39 6 p 1096 106 Leardini A et al Validation of a functional method for the estimation of hip joint centre location J Biomech 1999 32 1 p 99 103 Schwartz M H and A Rozumalski A new method for estimating joint parameters from motion data J Biomech 2005 38 1 p 107 16 Seidel G K et al Hip joint center location from palpable bony land marks a cadaver study J Biomech 19
20. alysis Corp Contact Information 1 2 O OrthoTrak Skeleton 3 10 P Parent Child Relationship 3 12 Q Quick Start Tutorial Movement Analysis 2 1 B 1 R Rotational Gizmo 3 15 S Segment Coordinate System Defining 3 17 Segmental Definitions 3 16 Segmental Inertia Information 4 6 Shank Segment Defining 3 14 SIMM OrthoTrak Skeleton 3 10 Skeleton Builder Segments Defining 3 10 Skeleton Builder Skeleton 3 10 Skeletons Types 3 10 Solving Unknowns B 3 Static Virtual Markers 3 7 Static2Dynamic sky Script Customizing 3 7 Unknowns Solving B 3 V Viewing Results 4 8 Virtual Marker Definitions Index 1 KinTools RT User s Manual Edit Box 3 2 Visual Analysis 4 11 Z Zatsiorsky Mass Model Data 4 2 Hip Joint Center 3 8 Index 2
21. arent child relationship is the knee joint angle The parent segment would be the Thigh and the child segment would be the Shank The child segment moves with respect to the parent segment to define the joint angle This means that the knee joint angle will be computed as the shank segment motion with respect to the thigh segment motion shank relative to thigh Although the aforementioned convention is common and is the conven tion found in the KinTools RT sample data it is by all means not the only accepted convention It is up to the user to decide which convention makes most sense for their particular application and then design the model around that After we have decided which convention to use and before we create a model we must first decide on our Bone Axis long axis and Segment Euler Rotation Order Under Model Edit gt TreeView we select the root 3 12 KinTools RT User s Manual Chapter 3 Building a Skeleton Builder Model name at the top of the list which is the same name as the project file This will bring up the information shown in Figure 9 below Figure 3 9 Bone Properties MarkerSet Name Static py Skeleton Engine Skeleton Builder Sk Rotation Order XYZ Bone Axis Z Skin File Skin Transparenc 0 MarkerSet Name MarkerSet Name The Euler Rotation Order and Bone Long Axis are specified here The Rotation Order can be set as ZYX XYZ YXZ YZX ZXY or XZY The Bone Axis can be set as X Y o
22. at the bottom left of the dashboard with the Kinetics box checked 3 Runa Sky script In the Mass Model Editor there is a built in button for calculating Kinet ics Figure 4 3 Mass Model Editor Mass Model Editor Units Personal Information Name Standard Zatsiorsky Mass Model Segment Pelvis R Thigh L Thigh R Shank L Shank R Foot L Foot Torso Head R UpperAm L UpperAm eT Fractions of the whole Radius of Gyration z x Y z A Weight Gender Walker ight 90 00 Kg Height 180 00 cm Male O Female Custom Mass N 0 1117 0 1416 0 1416 0 0433 0 0433 x 0 05 0 551 0 615 0 587 0 0 0 0 0 0137 0 0 0 0 0 0 0 4095 0 329 0 329 0 149 0 4095 0 329 0 329 0 149 0 4395 0 251 0 246 0 102 0 4395 0 251 0 246 0 102 0 4415 0 257 0 245 0 124 0 4415 0 257 0 245 0 124 0 5047 0 294 0 342 0 233 0 5976 0 362 0 376 0 312 0 5772 0 285 0 269 0 158 0 5772 0 285 0 269 0 158 nace nar nare nan 0 0137 0 3229 0 0694 0 0271 0 0271 nnair sfolololol ololsol olaolol ol lt Segment Sum 1 Normalize Load Save Calculate Kinetics Calculate Kinetics Button After the mass inertia information are specified kinetics and kinematics data for an individual trial can be calculated Another option to calculate Kinetics is to use the Calculate button located at the bottom left of the dashboard Figure 4 4 on page 4 8 Chapter 4 Mass Model Information and Details KinTools R
23. ature to automatically identify the static markers you can collect a Staticl Capture Identify the markers and Create or Update the Template in Post Processing then Save the MarkerSet from the File or QuickFiles menu 4 Collect the Dynamic trials Both of these full body models use medial knee and ankle markers which are removed during the Dynamic tri als The Cleveland Clinic marker set also removes the lateral knee markers Use the updated template to automatically identify the mark ers or collect unnamed markers and edit later for trials with good data 5 After the trials are captured edit the marker data in Post Processing Edit the Static and Dynamic Captures save them This completes the capturing session and is no different from any other capture sequence except that there is a Static trial with additional mark ers that help in calculating accurate joint centers These static markers are removed to simplify the marker set for the dynamic trials The strength of KinTools RT becomes apparent in the Post Processing side where you can calculate the kinematic and kinetic variables and show them in the 3D view and on the Presentation Graphs KinTools RT Post Processing Calculating Joint Centers Viewing Data and Graphs A Sky script is used to automate the calculation of the joint centers based on the static marker placements in the Static Trial The offsets from the markers that remain on the person during the dynamic trial are
24. computation method of Global Optimization The results are similar if care is taken using either skeleton model The Cortex KinTools RT release includes two human models with more and less detail These models are built using the Skeleton Builder abbre viated SkB modeling software in Cortex Skeleton Builder enhancements for Cortex include two important new features to aid in building models 1 User defined Euler angle rotation order 2 User definable Bone Axis Cortex has three check boxes above the Post Processing Calculate but ton 1 The Calculate VMs check box is selected to calculate the Virtual Marker locations using Cortex 2 The Skeleton check box tells the software that you would like to Cal culate the joint angles or kinematics of the skeleton defined in your project using Skeleton Builder 3 The Kinetics check box tells the software to use the subject s weight along with the entries in the Mass Model Editor table to calculate the forces and moments for each segment or bone in the model The forces and moments are first calculated from the center of mass of each segment in the global coordinate system and then translated to the joint center at the end of the bone This information is accessed through KinTools RT 1 1 Chapter 1 Introduction KinTools RT User s Manual For More Information Please contact Motion Analysis Customer Support with any questions problems or feedback about the Motion Analy
25. del Information and Details Adjustments to Table 4 below shows the mass inertial information contained in de Leva s Mass Inertial paper The information in this table comes directly from the paper with g the exception of the following segments Information 1 The Torso segment was added as the default segment in place of the Upper Trunk UT and Middle Trunk MT The segment masses for the UT and MT for both males and females were combined to create the Torso The percent mass of the Torso for females is 30 10 and for males is 32 29 The position of the segment CoM was also car ried over 2 The Torso segment is defined as Supersternale to mid ASIS 3 The Pelvis segment is defined as mid ASIS to mid Hip Joint Center The Pelvis segment has the same mass as the Lower Trunk segment in de Leva s paper Note When the Zatsiorsky radio button is selected in the Mass Model Editor the first 9 segments listed in Figure 4 2 on page 4 6 will be loaded The Alternate Segments can be used in place of the default segments by se lecting the Custom tab and inputting the alternate segmental information All measurements are indicated as a fraction of the whole COM center of mass k radius of gyration 4 5 KinTools RT User s Manual Chapter 4 Mass Model Information and Details Table 4 2 Segmenial Inertia Information Segment Endpoints Mass Cranial Transverse k Longitudinal k Caudal M M_ M
26. e Marker 22 L Shank 39 V_L Ankle_JC 21 L Knee 184 77 108 60 Perpendicular mm 58 73 ES Oa Sse C aa New V Marker Definition Delete V Marker Definition A Three Marker Value with snap to feature is used to define the Dy namic Knee Joint Center This example shows the L Shank marker as the Origin Marker with the Left Ankle Joint Center Virtual Marker as the Long Axis Marker and the L Knee lateral marker as the Plane Marker Since the L Knee marker is also a fixed distance from the Dynamic Knee Joint Center Virtual Marker it could be called the Origin Marker and the L Shank could be called the Plane Marker To create the Dynamic Knee Joint Center a Three Marker Value Virtual Marker Virtual Marker will be used The Origin Marker is assumed to be 3 4 KinTools RT User s Manual Chapter 3 Building a Skeleton Builder Model a fixed distance from the Virtual Marker location The Long Axis Marker defines a line and is typically the tracking marker located furthest from the Virtual Marker location The Plane Marker will be used to define a plane with the Origin and Long Axis Markers Note that when defining a joint center using a Virtual Marker definition the Plane Marker does not necessarily need to define the frontal plane If you notice beneath the Ori gin Long Axis and Plane Markers in the Virtual Marker Definition box Figure 4 there are offsets in mm that you can apply to the newly de fined Virtual Marker V_L Kne
27. e Static Joint Center Figure 3 5 shows the process of creating the Left Knee Joint Center marker described above Figure 3 5 Left Knee Joint Center Definitions Two Marker Ratio Virtual Marker Static Joint Center Name Origin Marker Long Axis Marker V_L Knee_JC_Static L Knee L Knee Medial Three Marker Value Virtual Marker Dynamic Joint Center Name Origin Marker Long Axis Marker Plane Marker V_L Knee_JC L Shank V_L Ankle JC L Knee Snap To Static Joint Center Marker V_L Knee_JC Static Joint Center definitions are created in two steps The first joint center Static Joint Center is created using a Two Marker Ratio Virtual Marker The second joint center Dynamic Joint Center is created using a Three Marker Value Virtual Marker and Snapping To the location of the Static Joint Center Automating Marker After reading the previous section on how to create Static and Dynamic Snap To Virtual Markers we realize that the procedure of snapping to dynamic markers is quite cumbersome and confusing At this point we are still re quiring that two separate Virtual Markers be created to define joint cen ters but we have created a Sky script that will expedite the procedure of creating Dynamic Joint Centers In the Sky Scripting Interface Tools Sky navigate through the Global Sky Scripts HH_Static2Dynamic sky and CC_Static2Dynamic sky These Sky scri
28. e_JC These offsets will need to be such that the new Dynamic Virtual Marker is placed in the same location as the static Virtual Marker To do this you will need to use the Snap To fea ture located in the bottom left of the Virtual Marker Definitions box When selected the Snap To box will become highlighted To position the new Virtual Marker in the correct location Snap To the location of the static Virtual Marker you will need to select the Static Virtual Marker ei ther from the Marker Set list or from the 3D display Once the Static Vir tual Marker is selected the Snap To box will display its name and the po sition of the new Dynamic Virtual Marker will overlay on top of the Static Virtual Marker Press Calculate Virtual Markers and the setting for the Dynamic Virtual Marker will be saved Notice that the offsets for the Ori gin Long Axis and Plane Markers are in mm not percentages The pro cedure of Snapping To will need to be performed each time the marker set is reapplied to the subject or each time a new subject is tested After the Dynamic Virtual Marker is created the Snap To marker will be re moved from the definition and the offset values will be saved in the project file We recommend as a precaution that the offset values be manually recorded i e in the subject data sheet in case the Dynamic Virtual Marker needs to be recreated and the Static Virtual Marker is not available Although the model will have
29. ed or otherwise transferred without the prior written consent of Licensor Except as otherwise specified herein this is the entire agreement between the parties relating to the subject matter hereof and may only be modified in writing signed by each party This agreement is governed by the laws of the State of California For further information regarding this KinTools RT User s Manual or other products please contact Motion Analysis Corporation 3617 Westwind Boulevard Santa Rosa CA 95403 USA tel 707 579 6500 fax 707 526 0629 info motionanalysis com P N 666 1020 020 www motionanalysis com Copyright 2010 Table of Contents Chapter 1 Introduction OVON ia ca hs ha ac cel gree alee ohn a di eat Se ed le 1 1 For More TOM TAU ON wsscaciterdcieonaceicssaniseecennecenedecendecinvnevandaeatyndeaetseuraenen 1 2 Chapter 2 Using KinTools RT Models WTEC TIO Meina antiaerian 2 1 Steps for Using the KinTools RT models Capture the Static and Dynamic MAS criais aai 2 3 KinTools RT Post Processing Calculating Joint Centers Viewing EA OAS es eee 2 3 Seeing the Data in the 3D VieW c cceeccceeeeeeeeceeeeeeeneeeeeeneeeeetes 2 5 Presentation Graphs View of the Data ecccceecceseeeeeeseeeeeeeeeeeees 2 7 Chapter 3 Building a Skeleton Builder Model KnTodls RT Be ING on ienisiieineres siceceresivieierieaicatmeearsinein niurmianntes 3 1 Defining Skeleton Builder Segment cccceeseeceeeeseeeeeeeeee
30. ediolateral X axis to the forward is defined as the cross left is defined as the cross between the Z axis and X axis between the Y axis and Z axis 3 18 Chapter 4 Mass Model Information and Details Mass Model Editor 4 4 Calculate Kinetics Button 4 7 Mass Model Editor The Mass Model Editor built into Cortex is the heart of the KinTools RT package It is here where the segments in the model are displayed and the segmental characteristics are specified to perform the KinTools RT analy ses To launch the Mass Model Editor shown in Figure 4 1 go to Tools gt Mass Model Editor Figure 4 1 Mass Model Editor Mass Model Editor Units Personal Information Name AWatrer Weight 90 00 tq Sond Height 180 00 cm Male Female Standard Zatsiorsky Custom Mass Model Fractions ofthe whole Segment Mass x Y R x Y z Pelvis 0 1117 0 0 0 5 0 551 0 615 0 587 R Thigh 0 1416 0 0 0 4095 0 329 0 329 0 149 L Thigh 0 1416 0 0 0 4095 0 329 0 329 0 149 R Shank 0 0433 0 0 0 4395 0 251 0 246 0 102 L Shank 0 0433 0 0 0 4395 0 251 0 246 0 102 R Foot 0 0137 0 0 0 4415 0 257 0 245 0 124 L Foot 0 0137 0 0 0 4415 0 257 0 245 0 124 Torso 0 3229 0 0 0 5047 0 294 0 342 0 233 Head 0 0694 0 0 0 5976 0 362 0 376 0 312 J R UpperAm 0 0271 0 0 0 5772 0 285 0 269 0 158 L UpperAm 0 0271 0 0 0 5772 0 285 0 269 0 158 v Segment Sum 1 Nomalize Load Save Calculate Kinetics 4 1 Chapter 4 Mass
31. elerations are shown as disks with two colors for showing positive and negative data Linear Velocities and Accelerations and Gravity are shown as vectors at the segment s center of mass Joint Forces and Moments are shown as vectors and disks Figure 2 4 3D KinTools Display with All Segments and Display Options ON Cortex 38Cam Walk1 cal Walk1 cap W File Layouts Data Views Tools Help arm E Go Rectify QuickID Rectify Create Template Template 2 R Thigh Unnamed Template ID Rectify 3 LThigh Markersets ClevelandCiinic 6 R Foot L Foot 5 TrunkLab 0 492 oo v VMs V Skeleton tO O 00M aE J fes Calculate Kinetics 173 Frames feo FPS 2 Up Units mm Analog 960 00 Hz 2 6 KinTools RT User s Manual Chapter 2 Using KinTools RT Models Presentation Graphs View of the Data New in the Cortex 2 release is the ability to show the kinematic kinetic and other data in user definable Presentation Graphs The KinTools RT example data set includes a full suite of graphs that are yours to use and modify To see the graphs Load a Capture and press the Calculate with VMs Skeleton Kinetics checked To see the data in the graphical form for all cycles choose two layouts with 3D on top and Presentation Graphs on the bottom Right click in the Presentation Graphs window to bring up the options for the graphs Choose Settings and select the Open Icon top
32. es 3 10 Chapter 4 Mass Model Information and Details Mass Model EdtOi access cccsaccascscncsscccsanecsdanesanccssnnteecarensaccarvaierantensances 4 1 Calculate Kinetics ButtON sscccsssiesadiccsskasiacacncaccnetecuideeeadsiawiciaciateand 4 7 Appendix A Marker Set Placement Helen Hayes Marker Set Placement ccsccceeeeeeeesstteeeeeeeeseees A 2 Modified Cleveland Clinic Marker Set Placement ccc ee A 3 Appendix B Overview of Calculations iL gs 16 1 0 1 E aE Re rely E Tere eer noes verre reyes rename ren B 1 Source of Forces and Moments on Segment ceeeeeeeeeeeeees B 2 Three Dimensional Inverse Dynamics Analysis ceeeeeeeee B 2 Solving for the UNKNOWNS essensies sssaaa B 3 Appendix C Sample Pictures Appendix D Works Cited KinTools RT User s Manual Introduction Chapter 1 Overview E For More Information 1 2 Overview KinTools RT is a full body three dimensional engine capable of calculat ing kinematic and kinetic information on models that are created and saved in the project file s The kinetic calculations can be done on either of the two skeleton types available in Cortex Skeleton Builder and Cal cium The Skeleton Builder models are generally simpler to use as they automatically scale the bone lengths to the subject s actual bones so these are the models that are included and discussed The Calcium based mod els use an entirely different
33. f your Static Virtual Markers and assign them an index remember ing to begin the count with zero See the example below Dim staticVMList 3 staticVMList 3 V_R Knee JC Static staticVMList 2 V_L Knee_JC_Static staticVMList 1 V_R Ankle JC Static staticVMList 0 V_L Ankle JC Static e Under the list Dim dynamicVMList input all of the Dynamic Vir tual Markers that you wish to use These are the Virtual Markers which have been created using the Three Marker Value Virtual Marker definition and that will be used to track the location of the joint centers dynamically List all of the Dynamic Virtual Markers assigning the first markers an index of zero See the example below Dim dynamicVMList 3 dynamicVMList 3 V_R Knee_ JC dynamicVMList 2 V_L Knee_ JC dynamicVMList 1 V_R Ankle JC dynamicVMList 0 V_L Ankle JC 3 7 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual e Under the list Dim medialList input all of the medial joint markers you wish to remove from the Static Project file These are the markers which will not be used for the Dynamic trials List all of the Static only markers and assign the first marker an index of zero See the example below Dim medialList 3 medialList 0 R Ankle Medial medialList 1 L Ankle Medial medialList 2 R Knee Medial medialList 3 L Knee Medial Hip Joint Center There are many p
34. g ment Winter 1 shows a very nice example of the equations used in a three dimensional inverse dynamics analysis Ixay lz ly wzwy Y My RyaLa RgpLp Mxp Mya Iyay Ix Iz wxwz My RyaLa RypLp Myp Mya lzaz ly Ix wywy Y Mz RzaLa RzpLp Mzp Mza Where Iy Iy and Iz are the components of the moment of inertia y y and z are the components of angular acceleration y y and z are the compo nents of angular velocity Myg Myg and M7 are the distal joint moments Mxp My and Mz are the proximal joint moments Ryg Ryg and Rzq are the distal joint reaction forces Ry Ry and Rz are the proximal joint re action forces and L and L are the distal and proximal distances from the center of mass to the distal and proximal joints respectively 2 KinTools RT User s Manual Chapter Solving for the Unknowns In a typical three dimensional inverse dynamics analysis there are six un knowns that we must solve for 1 Ryp Ryp Rzp 2 Myp Myp Mz where Ryp Ryp and Rz are the proximal joint reaction forces and My My and M Zp are the proximal joint moments Before we can solve for the unknown proximal joint moments we must first solve for the proximal joint reaction forces Using Newton s Second Law of Motion we can solve for the unknown proximal joint reaction forces Ryp Rxa L Fx MaxRxp Rya B Fe Max Ryp Rya mg SF MayRyp Ry
35. g characteristics all of which are different than the more traditional Skeleton Builder segment definitions used in Biomechanics They are 1 The bones are kept at constant length for the entire trial as defined in the Model Pose 2 The degrees of freedom for each joint are user definable For exam ple a joint can be constrained to 1 degree of freedom thereby becom ing a hinge joint 3 The method of fitting the bones into the marker cloud is the Global Optimization Method With Calcium the user must manually position a segment within a group of markers the marker cloud and uses the Global Optimization method of calculating the best fit position of the segment within the marker cloud during dynamic motions Because the bone is hand fit within the marker cloud and the length of the Calcium bone is user definable using Calcium to define a KinTools RT skeleton may not be ideal However Calcium does have its benefits when used in conjunction with the Skeleton Builder skeleton we call this a Hybrid Skeleton and will be discussed later Skeleton Builder Skeleton The second type of skeleton engine built into Cortex is called Skeleton Builder SkB This is the main skeleton en gine used in KinTools RT for several reasons First the bones are scaled to the subject using joint center markers Second SkB segments are ex tremely simple to create The user must only specify three markers to de fine a bone Origin marker
36. ges each page is a tab and sending the bit map to your printer with the best looking results from a full page graph Chapter 3 Building a Skeleton Builder Model KinTools RT Modeling 3 1 Defining Skeleton Builder Segments 3 10 KinTools RT Modeling Defining Joint Centers Building a KinTools RT model in Cortex involves three separate and se quential steps 1 Defining Joint Centers using Virtual Markers 2 Defining Skeleton Builder Segments 3 Specifying the Mass Model to be Used discussed in Chapter 4 Mass Model Information and Details Joint centers in KinTools RT are defined using Virtual Markers of which there are five types Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio 5 One Marker Value PwNna The majority of Virtual Markers used to define joint centers will use the Three Marker Value and Two Marker Ratio definitions although other Virtual Marker definitions may be used Figure 3 1 shows the Virtual Marker Definitions Edit box 3 1 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual Figure 3 1 Virtual Marker Definitions Edit Box Virtual Marker Definitions Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio One Marker Value EMR Enter Name of Virtual Marker Origin Marker Long Axis Marker Plane Marker lt r Snap to this Marker optional 0 00 0 00 Perpendicular 0 00 Cim n
37. gular Velocity C Angular Acceleration V Global Center of Mass C Gravity Vector The magnitudes of the vectors correspond with the calculated data ex ported in the kin file 4 12 KinTools RT User s Manual Chapter 4 Mass Model Information and Details Exporting Calculated KinTools RT Data Note Note Calculating Kinetics Exporting KinTools RT Data Launching Microsoft Excel from Sky After calculating Kinetics you can export the Kinetics file using the File gt Export Kinetics File function The Kinetics kin file is a frame ori ented file that contains the following information e Personal Data Subject height mass e Mass Model Segments segment mass percent COM along long axis and radius of gyration e Events e Whole Body COM position w r t GCS mm COMx COMy COMz e Segmental COM position w r t GCS mm x y Z e Joint angle rx ry rz Angle formed by the Child segment w r t the Parent segment e Segment length mm 1 e Joint force N fx fy fz Resolved in the Child segment coordinate system e Joint moment N m mx my mz Resolved in the Parent segment coordinate system KinTools RT does not currently contain an Event editor This is a planned for future releases of The space is left open in the kin file so that it would not be necessary to change this file type Whole Body COM is calculated for ONLY the segments defined in the model Whole Body does no
38. h the sample Kinetics data it can be 4 13 Chapter 4 Mass Model Information and Details KinTools RT User s Manual used in real world applications in its current form or with modifications After the Sky file calculates Kinetics for two separate cycles it will ex port a Kinematics and Kinetics kin and forces file for each cycle and launch Excel VBA code within Excel will bring in the kin and forces files and graph joint angles joint moments and joint powers for the an kle knee and hip joints The Excel file that will graph the KinTools RT data Cortex UserFiles KinTools RT Kinetics_HH_Marker_Set_ Graphs xls can be used for real world applications also but is mainly in tended to get users started The source code is hidden but can be accessed by emailing Motion Analysis Customer Support at support motionanal ysis com As the graphs continue to be updated with new features current KinTools RT users will receive a copy of the Excel file 4 14 Appendix A Marker Set Placement Helen Hayes Marker Set Placement A 2 Modified Cleveland Clinic Marker Set Placement A 3 Appendix A Marker Set Placement KinTools RT User s Manual Helen Hayes Marker Set Placement Figure A 1 Helen Hayes Marker Set Placement Rear Head L Shoulder TAR baa vy Fad m S ate a MW OA y y L Knee Medial R Knee Medial R Ankle Medial L Ankle Medial R Ankle L Ankle
39. he Zatsiorsky mass inertial data are based on a 15 segment full body model and includes the following seg ments Pelvis R Foot L UpperArm R Thigh L Foot R Forearm L Thigh Torso L Forearm R Shank Head R Hand L Shank R UpperArm L Hand To use the Zatsiorsky model the segment names that are entered into your Skeleton Builder or Calcium model must match the names listed above or the mass properties for that segment will not be automatically loaded If any or all of the above names are not present you will receive a warn ing message stating that the Mass Model Editor cannot find certain seg ments However this does not mean that you will not be able to input mass and inertial information for this model By selecting the Custom radio button you can hand edit the Mass Model Editor and input your de sired mass model information 4 2 KinTools RT User s Manual Chapter 4 Mass Model Information and Details Terminology To help better understand the terminology in Zatsiorsky s body segment descriptions the following definitions have been included in Table BP followed by a graphical description of the location of landmarks Figure 14 adapted from de Leva 1996 Table 4 1 Body Segment Terminology Used to Identify Landmarks Landmark Name Abbreviation Description Acropodion TTIP Tip of longest toe Cervicale CERV Superior tip of the spine of the 7 certical vertebra Gonion GONI Most lateral point on the p
40. id skeleton is just as the name implies it is a mixture of two separate skeletons The desirable characteristics of the Hybrid Skeleton are 1 Global Optimization Method used in Calcium of iteratively solving for the best fit of the bone segments into each frames marker cloud and 2 The user can specify the number of degrees of freedom for each joint as in the Calcium Skeleton 3 Segments are automatically scaled to the subject based on the joint center measurements in the first frame of data as in the Skeleton Builder Skeleton To create a Hybrid skeleton the user must first define a SkB skeleton for the subject of interest Next an htr file will be exported that will include the desired Euler Angle rotation sequence The Calcium skeleton engine will be enabled and the same htr file will be imported back into Cortex So just as the SIMM Calcium model is scaled for a particular subject the Hybrid skeleton is also scaled for a particular subject After the Hybrid skeleton is created the user will now have the ability to edit the skeleton just as they would with a normal Calcium skeleton bypassing the labor intensive fitting of the skeleton segments within the marker cloud Since the skeletal segments will have the correct segment length determined by the static trial and placed in the correct location the user will be able to use this skeleton to accurately make kinematic and kinetic calculations There are two bonuses i
41. inTools RT Models KinTools RT User s Manual To get a better look at any one graph use the hotkey 9 toggle for a Graphics Only screen no control buttons and press Space bar to get the full screen on the selected Presentation Graphs panel To show the data By Cycles right click in the Presentation Graphs window and check the Draw Cycles box With these options you should see a Presen tation Graphs panel like the one below The Cycles are defined from the Tools gt Event Editor which along with the Presentation Graphs feature is available for all Cortex 2 users with their Cortex 2 license upgrade Figure 2 6 Hip Joint Angle with Draw Cycles Checked Showing One Gait Cycle Cortex 38Cam Walk1 cal Walk1 cap CEK J Fie Layouts DataViews Tools Help i if AnkleJointMoment HipJointPower KneeJointPower AnkleJointPower Trunk Pelvis HipJointAngle KneeJointAngle AnkleJointAngle HipJointForce KneeJointForce AnkleJointForce HipJointMoment KneeJointMoment R Hip Flexion Extension Joint Angle deg 40 Flex Ext 30 40 50 60 70 80 90 100 10 20 30 40 20 60 70 80 30 700 69 Saved Capture C Program Files Motion Analysis Cortex2 Samples KinTools RT Cleveland Clinic MarkerSet 173 Frames 60 FPS 2 Up Units mm Analog 960 00 Hz Other options in the right click menu for the Presentation Graphs allow you to save the selected graph s data in a tab delimited ASCII file Add and Remove pa
42. inTools RT User s Manual Chapter 2 Using KinTools RT Models Seeing the Data in the 3D View 3D Viewing Options For the selected segment s you can view at the segment s center of mass 5 variables Linear Velocity Linear Acceleration Angular Velocity Angular Acceleration Gravity Vector The Joint Forces and Moments can also be shown The 3D Display Show properties box is shown below with ALL of the KinTools RT options checked Figure 2 3 3D Display Show Properties with All KinToolsRT Boxes Active 3D Display Show Properties Subject Markers C Links C MarkerSet Names g Marker Numbers C Marker Names Trajectories Virtual Markers Unnamed Markers Skeleton Skin C Skeleton Axes Forces Forceplate Numbers C BackCale C Model Pose KinTools RT Display Options Segment Center of Mass Linear Velocity Linear Acceleration Angular Velocity Angular Acceleration Gravity Vector World M Cameras C Camera Rays C Cam Field Of View Floor C Volume C Reference Video C Camera Coverage View C Keep Centered C Mirrored C Auto Rotate C Relative Viewing Perspective View Orthographic View v Joint Forces Moments Global Center of Mass Additional Settings 2 5 Chapter 2 Using KinTools RT Models KinTools RT User s Manual Which gives a complete model with all options and all segments shown in Figure 2 4 Angular velocities and acc
43. ls RT By selecting a segment and therefore a joint you Data have the ability within Cortex to visualize the magnitudes of the kine matic and kinetic data In the 3D display right click to activate the 3D Display Show Properties box At the bottom of the window there will be a Kinetics section shown in Figure 4 7 below which will allow you to se lect the available kinematic or kinetic variables to visualize Figure 4 7 Kinetics Display Box Kinetics Segment Center of Mass Joint C Linear Velocity C Forces C Linear Acceleration C Moments C Angular Velocity C Angular Acceleration _ Global Center of Mass C Gravity Vector 4 11 Chapter 4 Mass Model Information and Details KinTools RT User s Manual Segment Center of Mass options on the left include kinematic data while Joint options on the right include kinetic data The Segment Center of Mass and Global Center of Mass options are calculated directly from the information provided in the Mass Model Editor while the Joint options are calculated from the inverse dynamics analysis Figure 4 8 shows an example of the Linear Velocity green and Linear Acceleration blue in additional go the Global whole body Center of Mass red dot and Joint Forces black for the L Thigh L Shank and L Foot segments Figure 4 8 Kinetics and Kinematics Options Kinetics Segment Center of Mass Joint Linear Velocity Forces Moments Linear Acceleration ate C An
44. n using the Hybrid skeleton The first is that users can now limit the degrees of freedom DOF of the joints SkB skeletons by default compute 6 DOF segmental information 7 DOF if you include segment length while a Calcium model will allow the user to specify the number of DOFs which are allowed The second bonus of the Hybrid skeleton is that the user can now assign more than 3 markers to track the segment With Calcium using the Global Optimization Method of fitting the bone within the marker cloud the user can benefit from a potentially more accurate segmental definition Unfortunately this type of skeleton is rather tedious to create and needs further testing From this point on all discussions of skeletons within Cortex will refer to SkB skeletons so the words skeleton and SkB skeleton will be used inter changeably For more information on this section please refer to the Cortex Tutorial Creating a KinTools RT Model using Skeleton Builder SkB found under Help gt Tutorials gt KinTools RT Once the joint centers have been created the user is now free to create a SkB skeletal model The skeleton definitions are typically laid out ina parent child relationship with the ability to make any segment the parent of another segment The user has the following options when creating segments 1 Define segments relative to the Global Coordinate System GCS 3 11 Chapter 3 Building a Skeleton Builder Model KinTools RT U
45. nd the Lateral Ankle Marker as the Plane Marker With the Z axis as the Bone Long Axis the Plane Marker will define the XZ plane Therefore the X axis will point towards the Lateral Ankle Marker and the Y axis will point for wards or backwards anterioposterior axis To create a new segment go to Model Edit gt TreeView gt SkB Seg ments Right click on SkB Segments and select Insert The new segment will appear with the default name MyNewSegment 1 have the Parent Segment of GLOBAL and the Origin Long Axis and Plane Axis mark ers will be the first marker listed in the Marker Set list in this case the first marker in the marker set list is Top Head To edit the bone name click on Name portion at the bottom of the TreeView and type in the pre ferred segment name To set the Parent Segment Origin Marker Long Axis Marker and Plane Axis Marker simply click on the names at the bottom of the TreeView and choose the appropriate segment or marker name from the drop down box If a segmental rotation is desired double click on the default value zero next to RX RY or RZ Offset and either type in the rotation angle you wish to apply in degrees or use the rota tional gizmo to rotate the segment Figure 3 11 on page 3 15 shows the rotational gizmo for the L Shank 3 14 KinTools RT User s Manual Chapter 3 Building a Skeleton Builder Model Figure 3 11 Rotational Gizmo Markers TreeView f Static prj
46. o the L Thigh The Skeleton Graphs shown in Figure 4 5 below display the kinematics and kinetics data for each selected segment and joint The following in formation is contained in the Skeleton Graphs e Joint Angles deg e Joint Forces N e Joint Moments N m e Linear Movement segment w r t Global Coordinate System Linear Velocity mm s Linear Acceleration mm s e Angular Movement segment w r t Global Coordinate System Angular Velocity deg s Angular Acceleration degs The data contained within the Skeleton Graphs can be written out in a kin file described later depending on how the segments are defined The Skeleton Graphs show two types of information segment w r t segment data joint angles forces moments and segment w r t Global Coordinate System GCS data linear velocity and acceleration angular velocity and acceleration If the segments are defined in a parent child relationship the data in the kin file will contain joint information If the segments are defined w r t GCS the data in the kin file will contain segmental infor mation only no joint information Figure 4 5 Skeleton Graphs Kinetics data can be viewed in a graphical form by displaying the Skele ton Graphs and select the segment and therefore joint you wish to view The joint angle in deg joint forces in N joint moments in N m lin ear velocity mm s and linear acceleration mm s2 and angula
47. ools RT User s Manual Chapter 3 Building a Skeleton Builder Model Defining a Segment Coordinate System The coordinate systems in Cortex follow the Right Hand Rule The local or segment coordinate system LCS originates at the Origin Marker of the segment In the Shank example from above the Shank co ordinate system originates at the Knee Joint Center marker The long axis Z axis of the segment will be directed in a line from the Origin Marker to the Long Axis Marker Ankle Joint Center The frontal plane is de fined by the plane formed by the lateral axis and long axis The anterio posterior axis Y is directed anterior from the Origin Marker perpendicu lar to the Z axis and frontal plane or the cross between the X and Z axes Finally the plane axis X is directed lateral from the Origin Marker per pendicular from the sagittal plane or the cross between the Y and Z axes 3 17 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual Figure 3 12 provides a step by step description of how the LCS is defined in Cortex This example corresponds with the sample data found in the Cortex Samples KinTools RT Examples folder Figure 3 12 Defining a Segment Coordinate System 1 The long axis Z along the bone 2 The frontal plane XZ is defined is defined as the Origin Marker to as the plane formed by the long the Long Axis Marker axis and plane axis 3 The anterioposterior Y axis 4 The m
48. osterior angle of mandible Malleoli MMAL LMAL Medial and lateral bony projections of the malleolus Mid gonion MIDG Point midway between 2 gonion Mid shoulder MIDS Point midway between 2 shoulder joint centers Pternion HEEL Posterior point of the heel Radiale RADI Lateral tip on the proximal head of the radius Sphyrion tibia TSPH Distal tip of the tibia distal to medial malleolus Sphyrion fibulare FSPH Distal tip of the fibula distal to lateral malleolus Stylion RSTY Distal dip of the styloid process of the radius Suprasternale SUPR Most caudal point on the jugular notch on the stemum Tibiale medial MTIB Most proximal point on the medial superior border of the head of the tibia Trochanterion TROC Superior border on the greater trochanter of the femur Xiphion XYPH Lowermost end of the sternum 4 o Chapter 4 Mass Model Information and Details KinTools RT User s Manual Figure 4 2 Landmark Locations a Vertex a d Suprasternale a oe Shoulder 3 lt a _ Cervicale Joint Center a gt Elbow Joint Center Wrist Joint Center N Gonion gt gt f Y Mid Gonion Xiphion Omphalion Asis 4 TT Pr 7 Third Metacarpale Mid Hip Hip Joint Center Knee Joint Center gt lt n 7 Ankle Joint Center oe gt Pi N l Pternion gt i Acropodion 4 4 KinTools RT User s Manual Chapter 4 Mass Mo
49. pts correspond with the sample KinTools RT data located in the Cor tex Samples KinTools RT Examples folder Both Sky scripts serve three separate functions 1 Snap the Dynamic Virtual Marker to the location of the Static Virtual Marker This automates the procedure explained in the previous sec tion 2 Remove the medial markers from the marker set list KinTools RT User s Manual Chapter 3 Building a Skeleton Builder Model Customizing the Static2Dynamic sky Script Static Virtual Markers 3 Creates a Dynamic prj file which will allow the user to identify markers in real time using correct joint center locations We have supplied two samples Static2Dynamic sky scripts both of which correspond with sample data in the Cortex Samples KinTools RT Ex amples folder However if you wish to use a marker set different from the ones we have supplied in the Samples folder and want to use the Static2Dynamic sky script you will need to edit the Sky script This is ex tremely simple and here is how it s done e Under the list Dim staticVMList input all of the Static Virtual Markers that you wish to use to snap to the location of Dynamic Vir tual Markers The index for the list begins at zero so count the num ber of Static Virtual Markers in the list For example we have a list of four Static Virtual Markers so our total would be three 0 1 2 3 Enter 3 in the parentheses behind Dim staticVMList Now list all o
50. r Z In our sample models we have used Z as the bone axis to correspond with our Z up coordinate system We also adopt a Y forward backward and X medial lateral convention for all seg ment coordinate systems resulting in the XYZ Euler Rotation Sequence to correspond with the common clinical sequence of Flexion Extension as the first usually largest angle Ab Adduction as the second angle and Internal External Rotation as the third angle The Bone Axis and Segment Rotation Order will be the same for all seg ments defined in the model so it might be necessary depending on the movement of interest to create two separate models in separate project files for processing data requiring separate Rotation Sequences We will use the Shank segment as an example of how to create a skeleton segment In this example we will create the segments proximal to distal parenting the GCS to the Pelvis segment the Pelvis to the Thigh and the Thigh to the Shank Figure 3 10 on page 3 14 shows a picture of the pre viously defined Pelvis and Thigh segments and the creation of the Shank segment 3 13 Chapter 3 Building a Skeleton Builder Model KinTools RT User s Manual Figure 3 10 Defining the Shank Segment Pelvis Segment Thigh Segment Knee Joint Center Lateral Ankle Marker Ankle Joint The Shank Segment is defined with the Knee Joint Center as the Origin Marker the Ankle Joint Center as the Long Axis Marker a
51. r velocity deg s and angular acceleration deg s2 4 9 Chapter 4 Mass Model Information and Details KinTools RT User s Manual Figure 4 6 Segments Tab Markers Segments Index Name Pelvis R Thigh L Thigh R Shank R Foot L Foot Torso Head R UpperAm L UpperAm R Forearm L Forearm R Hand L Hand The Segments Tab located in the Post Process Panel will allow the user to specify which segments are displayed in either the 3D Display or in the Skeleton Graphs Segments can be selected in the same fashion as mark ers Ctrl left mouse click Shift left mouse click or left mouse click and drag When a segment is selected in the Segments tab it will become highlighted and turn green in the 3D Display Figure 4 6 shows the Seg ments Tab The L Shank segment is selected in the Segments Tab and the results are shown in the 3D Display Select the segment of interest to display the joint kinematics and joint ki netics in the Skeleton Graphs Multiple segments can be selected at one time by either Ctrl left mouse click Shift left mouse click or holding down the left mouse button and dragging down the Segments list 4 10 KinTools RT User s Manual Chapter 4 Mass Model Information and Details Visual Analysis During data analysis it is often times advantageous to study a dynamic il i lustration rather than a graphical representation This is a handy feature of KinTools RT within KinToo
52. s of calculating Kinetics and exporting the data If assis tance with these or any other scripting functions within Sky is needed please contact Motion Analysis Customer Support at support motionan alysis com or refer to Chapter 14 Sky in the Cortex User s Manual Within Cortex there are two ways calculated data can be viewed The first is in a graphical form within the Skeleton Graphs view and the sec ond is in the 3D display on the skeleton itself One of the more functional ways to view Kinetics data is in a graphical form Within Cortex this can be done using the Skeleton Graphs data view or outside Cortex using the kin file which will be explained later To display the Skeleton Graphs either the F6 hot key can be pressed or the view can be displayed by selecting Data Views gt Layouts gt Skeleton 4 8 KinTools RT User s Manual Chapter 4 Mass Model Information and Details Graphs F6 Since this display does not graph marker data the Segments tab must also be displayed The Segments tab is located next to the Marker tab in the Post Process Panel on the right discussed below Kinetics data will be displayed according to the parent child relationship that was specified when the segment was created For example if you choose to view the left knee joint data select the child segment L Shank from the Segments tab in the Post Process Panel In Chapter 3 we defined the left knee joint as the L Shank relative t
53. ser s Manual 2 Define segments relative to the Proximal segment 3 Define segments relative to the Distal segment Typically models are initially created by parenting the GCS to the Pelvis segment The Pelvis segment is considered the Root segment of the body and all other segments branch out from this segment In the KinTools RT modeling scheme the Pelvis is proximal to all body segments if no other segments are defined relative to the GCS Moving caudal towards the foot from the Pelvis the parent segment of the Thigh would be the Pelvis the parent segment of the Shank would be the Thigh and so on Moving cranially towards the head from the Pelvis the parent segment of the Trunk would be the Pelvis the parent segment of the Head would be the Trunk and so on Table 1 lists common parent child relationships using the described convention Table 3 1 Parent Child Relationships Joint Parent Segment Child Segment Hip Pelvis Thigh Knee Thigh Shank Ankle Shank Foot Waist Pelvis Trunk Neck Trunk Head Shoulder Trunk Upper Arm Elbow Upper Arm Forearm Wrist Forearm Hand Common parent child relationships using the convention of the proximal segment as the parent and the distal segment as the child For example the Knee joint would be the Shank motion relative to the Thigh motion or the Shank relative to the Thigh An example of a joint angle computed using the proximal distal p
54. sis KinTools RT software We can be reached at Motion Analysis Corporation 3617 Westwind Blvd Santa Rosa CA USA 95403 Phone 707 579 6500 Fax 707 526 0629 http www motionanalysis com For technical support and licensing information please contact support motionanalysis com For information about sales please contact info motionanalysis com 1 2 chapter 2 Using KinTools RT Models Introduction Steps for Using the KinTools RT models Capture the Static and Dynamic Trials KinTools RT Post Processing Calculating Joint Centers Viewing Data and Graphs Seeing the Data in the 3D View Presentation Graphs View of the Data Introduction KinTools RT has two built in full body models that you can use out of the box based on two popular marker sets the Helen Hayes and or the Cleveland Clinic marker sets The models are fully configurable and also included is a full suite of graphs that use the Cortex Presentation Graphs tools The complete model including the Mass Model for kinetics properties is stored in the Cortex 2 MarkerSet and is part of the Cortex 2 software release These MarkerSets can be seen and selected for use in the System Objects panel as ClevelandClinic mars and or Helen Hayes mars 2 1 Chapter 2 Using KinTools RT Models KinTools RT User s Manual Figure 2 1 3D View and Presentation Graphs with Right Foot Bone Selected Cortex 38Cam
55. t necessarily mean the entire human or ani mal body but the whole body of the defined model The kin files exported from Cortex can be read into MATLAB Labview or any other graphical programming tool as well as into Microsoft Excel Please email support motionanalysis com for a sample MATLAB script that will read in the ASCII friendly kin file and graph the sample data Note that both kin files are subject to change with future Cortex releases as more features are added to KinTools RT For more information refer to the Cortex Tutorial Calculating SkB Ki netics using Sky and Excel found under Help gt Tutorials gt KinTools RT One of the attractive features of the new Sky Scripting Interface in Cortex is its ability to interact with outside programs Because Sky is a Visual Basic based scripting language it can not only function within Cortex but it can also work with other Windows based programs most notably Mi crosoft Excel A Sky script has been written that will calculate Kinetics for up to two cycles i e gait cycle write out a kinematics and kinetics kin file launch Excel and compute and graph lower body kinematics and kinetics The Sky file of interest is called Kinetics _HH_Marker_Set_Graphs_Excel200x sky There are three sep arate Sky files one each for MS Excel 2000 2003 and 2007 and each can be found in the Tools gt Sky gt Global Sky Files folder Although this Sky file is designed to be used wit
56. tex 2 All users can view and process the sample data using these built in models but you must have licenses for editing the SkeletonBuilder or Mass Models that are used in KinTools RT Tempo rary licenses are available contact support motionanalysis com or your Motion Analysis salesperson with your request 2 2 KinTools RT User s Manual Chapter 2 Using KinTools RT Models Steps for Using the KinTools RT models Capture the Static and Dynamic Trials 1 Create a new folder for the capture calibrate the system save the Setup with a name like Calibrated or the date or the name of your subject 2 Select the MarkerSet from the Motion Capture gt System Objects panel Use the blue arrow to copy from the System Objects to the Local Objects folder Example Select ClevelandClinic mars in the System Objects panel use the blue arrow to copy to the Local folder Note it becomes the selected marker set in the Local Objects panel 3 Select Connect to Cameras and then Run Collect the Static Trial and update the template for this person Have the subject stand in the Model Pose position From the Motion Capture panel select New Subject bottom right which shows you the current Model Pose Have the subject move around until the stick figure snaps in Check Refit the Identifying Template and Update the Model Then click Pause Run and then Save the MarkerSet If you are not familiar with using the New Subject fe
57. the serial number of each computer system with which the Licensed Program is incorporated or used Copyright Protection The Licensed Program is copyrighted by Licensor Copies may be made only as permitted by this Agreement Licensee agrees to reproduce and apply the copyright notice and proprietary notice of Licensor to all copies in whole or in part in any form of Licensed Program made hereunder Warranty Exclusion Any maintenance obligations of Licensor shall be subject to a separate maintenance or update agreement between and licensee LICENSOR MAKES NO WARRANTIES EITHER EXPRESS OR IMPLIED ON ANY LICENSED PROGRAMS AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE Patent and Copyright Indemnification Licensor shall indemnify Licensee against liability for patent and copyright infringement upon the terms and conditions applicable to Licensee s purchase of the Designated System Termination This agreement and any licenses granted hereunder may be terminated by Licensor upon written notice if Licensee fails to comply with any of the terms and conditions of this agreement Upon termination of any license Licensee will at Licensor s option either return the Licensed Program to Licensor or destroy the original and all copies and parts thereof General This agreement is not assignable The rights under this Agreement or any license granted hereunder may not be assigned sublicens
58. ts We model our skeleton as an idealized network of rigid bodies connected by idealized joints at the joint centers 1 Chapter KinTools RT User s Manual Source of Forces and Moments on Segments Gravity Contact With the Ground Segment to Segment Each segment has a measured mass m and center of mass CoM force of gravity mg where g 9 8 ad If a segment touches the ground then there is a ground reaction force GRF We include force platform data that gives us the forces and mo ments due to ground contact The force platform data are processed data where all the forces are combined into the Fy Fy Fz components and also analyzed modeling point forces on the plate The center of pressure is calculated and the moments about the center of pressure are calculated The skeleton has a network of forces and moments that all must balance nicely The forces and moments on a segment by its parent have the equal and opposite forces and moments applied onto the parent Each of these sources contributes to both the forces and moments Gravity and ground contact are external forces and the segment to segment ef fects are internal internal moments Three Dimensional Inverse Dynamics Analysis When performing a three dimensional inverse dynamics analysis calcula tions are performed from distal segment to proximal segments and the re sults from the distal segment are used in the analysis of the proximal se
59. ublished methods for determining the hip joint center The method that will be described here is the method published by Bell 8 9 Coincidently this is the same method used in OrthoTrak Using the ASIS breadth as the reference the hip joint center is determined by mov ing 32 laterally 22 posteriorly and 34 inferiorly However Virtual Marker definitions are created slightly differently in Cortex although the same relative percent offsets will be used Using the midpoint between the right and left ASIS markers the percentage offsets will now become 64 lateral 44 posterior and 68 inferior These offsets are shown in Fig ure 3 6 and Figure 3 7 We will begin by creating a Virtual Marker located half way between the left and right ASIS markers V_Mid_ASIS Using this marker as the Or igin the right or left ASIS marker as the Long Axis Marker and the Sacrum marker as the Plane Marker we can create a joint center for the right and left hip Figures 6 and 7 below show the Three Marker Ratio Virtual Marker definitions for the Right and Left Hip Joint Centers re spectively Figure 3 6 Right Hip Joint Center Virtual Marker Definitions Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio One Marker Value EMR Enter Name of Virtual Marker Origin Marker Long Axis Marker Plane Marker fV_RHip_JC 34 V_Mid_ASIS 11 RASIS 13 V Sacral Long Axis 64 00 Plane 44 00 Perpendicular 68

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