Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Describing
Motion
Photo reprinted from Marey, 1889.
X velocity-Time
Laboratory Movement
Small Movement
Energy = J = kg*m2 / s2
Math Review
Trigonometry sine, cosine, tangent, and inverse
functions
sin a = A/C, cos a= B/C, tan a= A/B
A
a
B
-1
180
360 degrees
-1
Math Review
Website for sine and cosine waves
http://catcode.com/trig/trig08.html
Principle means of
animal motion
Biomechanics Laboratories
= 1.11, 0.47
Toe Off:
Shoulder=1.87,1.35
Knee
= 1.78, 0.44
Displacement
Displacement = difference between final and initial
positions
Linear displacement (d) = Pf Pi (m)
Angular displacement () = f - i ( or rad)
Displacement does not necessarily equal distance (the
length of the path traveled)
Velocity
Velocity = rate of change of position
= amount of displacement per unit time
rate of change = calculus concept of the
derivative or slope
Linear velocity (v) = (Pf Pi) / time (m/s)
Angular velocity () = (f - i) / time (/s or rad/s)
Johnson vs Lewis
100m, Seoul 1988
Gross body
movement
Velocity
Velocity = rate of change of position
= amount of displacement per unit time
rate of change = calculus concept of the
derivative or slope
Linear velocity (v) = (Pf Pi) / time (m/s)
Angular velocity () = (f - i) / time (/s or rad/s)
This is motion
2.00
0.00
Time
2.00
0.00
Increasing +
Time
2.00
0.00
Decreasing +
Increasing +
Time
2.00
0.00
Increasing Decreasing +
Increasing +
Time
2.00
0.00
Increasing Decreasing +
Increasing +
Decreasing -
Time
2.00
0.00
Time
Angular Velocity
2.00
0.00
-2.00
Time
P o sitio n (d eg ree s)
F lexio n is N eg ative
10.0
contact
Toe off
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00
0.10
0.20
0.30
0.40
0.50
Time (s)
0.60
0.70
0.80
Knee Position
P o sitio n (d eg ree s)
F lexio n is N eg ative
10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00
0.20
0.30
0.40
0.50
Time (s)
0.60
0.70
0.80
Knee Position
P o sitio n (d eg ree s)
F lexio n is N eg ative
10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00
What is the sign of the velocity between local min & max?
0.10
0.20
0.30
0.40
0.50
Time (s)
0.60
0.70
0.80
Knee Position
P ositio n (d eg rees)
F lexio n is N eg ative
10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00
0.20
0.30
0.40
0.50
Time (s)
0.60
0.70
0.80
Knee Position
P ositio n (d eg rees)
F lexio n is N eg ative
10.0
0.0
-10.0
-20.0
-30.0
-40.0
-50.0
-60.0
-70.0
0.00
0.20
0.30
0.40
0.50
Time (s)
0.60
0.70
0.80
Knee Position
600
0.0
500
400
-10.0
300
-20.0
200
-30.0
100
-40.0
0
-100
-50.0
-200
-60.0
-70.0
0.00
P o sitio n (d eg ree s)
F lexio n is N eg ative
-300
-400
0.10
0.20
0.30
0.40
0.50
Time (s)
0.60
0.70
0.80
Knee Position
Knee Velocity
600
0.0
500
400
-10.0
300
-20.0
200
-30.0
100
-40.0
0
-100
-50.0
-200
-60.0
-70.0
0.00
P ositio n (d eg rees)
F lexio n is N eg ative
-300
-400
0.10
0.20
0.30
0.40
0.50
Time (s)
0.60
0.70
0.80
Knee Position
Knee Velocity
Acceleration
Acceleration = rate of change of velocity
= change in velocity per unit time
Acceleration
Acceleration = rate of change of velocity
= change in velocity per unit time
rate of change = calculus concept of the
derivative or slope
Acceleration
Acceleration due to gravity = g = 9.81 m /s2
Pos (m) or Vel (m/s)
0
-20
-40
-60
-80
-100
-120
-140
Position
Velocity
Time (s)
Acceleration
Acceleration due to gravity = g = 9.81 m /s2
Pos (m) or Vel (m/s)
0
-20
-40
-60
-80
-100
-120
-140
Position
Velocity
Time (s)
2.00
0.00
-2.00
Time
Based on definition
of acceleration,
sketch the angular
acceleration curve
for this velocity
curve
2.00
0.00
Angular Acceleration
-2.00
Time
2.00
0.00
-2.00
Time
Acceleration curve
shows the slope of
the velocity curve,
including positive
and negative
directions
Wayne Wright
Human Cannonball
Forensic Biomechanics
Ankle
Position:
Soft
Time vs Frequency
Human movement low
frequency
Digitizing error high
frequency
Derivatives increase high
frequency error
Pos = sin 2
Vel = 2 cos 2
Two frequencies
Many frequencies
Optimal Filter
Finds point beyond which
filtering does not
change result
Signal Processing
Data Filtering or smoothing vs. Curve fitting
90
70
60
y = 106.02x - 108.53
R2 = 0.9502
50
40
1.50
1.60
1.70
Height
1.80
1.90
Force (N)
Mass
80
120
100
80
60
40
20
0
0.1
0.2
Velocity (mm/s)
0.3
0.4
Signal Processing
Complex and detailed mathematical topic
We provided only the slightest introduction
Summary Kinematics
Kinematics describes
the movement pattern
in linear and angular
reference frames
Kinematics is the
outcome of Kinetics
(the result not the
cause)