3-D ATTITUDE REPRESENTATION OF HUMAN JOINTS - A STANDARDIZATION PROPOSAL

被引:180
作者
WOLTRING, HJ
机构
关键词
D O I
10.1016/0021-9290(94)90191-0
中图分类号
Q6 [生物物理学];
学科分类号
071011 ;
摘要
In view of the singularities, asymmetries and other adverse properties of existing, three-dimensional definitions for joint and segment angles, the present paper proposes a new convention for unambiguous and easily interpretable, 3-D joint angles, based on the concept of the attitude 'vector' as derived from Euler's theorem. The suggested standard can be easily explained to non-mathematically trained clinicians, is readily implemented in software, and can be simply related to classical Cardanic/Eulerian angles. For 'planar' rotations about a coordinate system's axes, the proposed convention coincides with the Cardanic convention. The attitude vector dispenses with the 'gimbal-lock' and non-orthogonality disadvantages of Cardanic/Eulerian conventions; therefore, its components have better metrical properties, and they are less sensitive to measurement errors and to coordinate system uncertainties than Cardanic/Eulerian angles. A sensitivity analysis and a physical interpretation of the proposed standard are given, and some experimental results that demonstrate its advantages.
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页码:1399 / 1414
页数:16
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