Faculty of Human KineticsTechnical University of Lisbon

Neuromechanics Research Group

Wangdo Kim1, Stephen Howell2, and Young Choi3  

1 Univ Tecn Lisboa, Fac Motricidade Humana, CIPER, LBMF, SPERTLAB, Estrada da Costa, P-1499-002 Lisbon, Portugal2University of California, Davis · Department of Mechanical and Aerospace Engineering2Biomedical Engineering Graduate Group, University ofCalifornia, Davis, Davis, CA, USA 3School of Mechanical Engineering, Chung-Ang University, Seoul Korea

Measuring Proprioceptive Information

X

Y

Z

X

Y

Z

BIOMECHANICS AND FUNCTIONAL MORPHOLOGY LABORATORY

Impingement of the graft

fff(Reprinted with permission from Stephen M. Howell

Howell SM. 1998. Principles for placing the tibial tunnel and avoiding roof impingement during reconstruction of a torn anterior cruciate ligament. Knee Surgery, Sports Traumatology, Arthroscopy 6:S49-S55.

Click icon to add picture

Freddie H. Fu, M.D.,(傅浩強 ; pinyin: Fù Hàoqiáng) is a pioneer and authority in sports medicine and recognized as a preeminent leader in orthopaedic surgery and sports medicine across the globe

Fu FH, Karlsson J. 2010. A long journey to be anatomic. Knee Surg Sports Traumatol Arthrosc 18:1151-1153.

BIOMECHANICS AND FUNCTIONAL MORPHOLOGY LABORATORY

Aims

The importance of Information in action(Evolutionary Effects and Behavioral Acts)

The difference between perceptual system and behavioral system is very important for the sense psychology but it has not been emphasized in biomechanics, and particularly in the experimental literature.

Movement is of two general types, exploratory and performatory, the first serving perception and the second behavior.

James Jerome Gibson (January 27, 1904–December 11, 1979), was an American psychologist

Edward S. Reed (November 20, 1954 - February 14, 1997) was a philosopher of science and an ecological psychologist in the vein of James J. Gibson.

Eleanor J. Gibson (December 7, 1910 – December 30, 2002) was an American psychologist

Theory of Action Sensitivity

Nakayama, Ken , James J. Gibson: An appreciation. Psychological Review, Vol 101(2), Apr 1994, 329-335.

Gibson JJ. 1966. The senses considered as perceptual systems: Houghton Mifflin.

The Basic Orienting System

The Statocyst in Relation to Other Organs

The Limitations of the Vestibular Apparatus

The frog never falls into the water

Ronald A. Howard Dynamic Programming and Markov Processes, The M.I.T. Press,

1960.

Haptic Perception-Action Coupling Manifold of Effective Golf Swing

YX

Z

X

Y

Z

O

MC

C

f

Cτ

α

aC

A

T

m1 HH I

OM

0.788 0 0 0 29.241 1.0010 0.788 0 29.241 0 1.1080 0 0.788 1.001 1.108 00 29.241 1.001 2855.908 5.206 123.719

29.241 0 1.108 5.206 2859.116 111.8231.001 1.108 0 123.719 111.823 20.966

=

=

The eigenvalue problem provides a unique decomposition of as

m1 H 0 0 00H J

Tf

T O

f m fM m

:

-100 0 100 200 300

050

100150

-100

-50

0

50

100

150

200

250

300

350

1

Ant

Pos

Z (cm)

Y (cm)X (cm)

C

Y (cm)

X (cm)

The question is how do golfers go from the perception of inertias of the club to perception of what they afford?

1

Ant

Pos

Y (cm)

Z (cm)

X (cm)

D

Y (cm)

X (cm)

the goal-directedness of behavior is captured

The second aim of our study was to apply the perception-action coupling manifold to contrast how an expert and a novice player move across the information manifold of perception and action to produce a golf swing (Lagarde, Kelso, Peham, & Licka, 2005).

Touch and Posture are Covariant

x

y

o1

2

3

4

x

y

o

a

a

bb

1

2

3

4

x

y

o

a

a

bb

1

2

3

4

"You think too much."

x

y

o1

2

3

4

x

y

o

a

a

bb

1

2

3

4

x

y

o

a

a

bb

1

2

3

4

Tolerance Analysis

2

2

4

X

Y

Z

x

x

x

y

yy

zz

f2f1

• Assembly DOF and Constraint Solution

F 1

1 0 0 20 1 0 20 0 1 00 0 0 1

F 2

0 1 0 21 0 0 6

0 0 1 00 0 0 1

TR esu ltan t 0 0 1 2 2 0

W R esu ltan t

0 1 0 0 0 20 0 1 0 0 00 0 0 1 0 00 0 0 0 1 0Taken From [Adams and Whitney 2001]

A hand feeling a pair of scissors

Perceptive motion: The principle of duality Force and rotation are remarkably similar

The lack of duality The concept of “aggregate”

Griffis M, Rico JM. 2003. The nut in screw theory. Journal of Robotic Systems 20:437-476.Plücker J, Klein F. 1868. Neue geometrie des raumes gegründet auf die betrachtung der geraden

linie als raumelement Erste-[zweite] Abtheilung. In. Leipzig: B. G. Teubner.

Screw coordinates: Recall that a screw is a line plus a scalar

pitch. How should we represent it.

The rule of representation at different points

Ciblak, N. (1998). Analysis of Cartesian stiffness and compliance with applications, PhD. Dissertation, Georgia Institute of Technology, U.S.A.

Projective Space P2

P3

P5

The Ball–Disteli diagram and its relevance to instantaneous axis of knee

Sir Robert Stawell Ball (1840-1913)

Martin Disteli, (1862-1923)Dresden, Karlsruhe

Ball R. 1900. A treatise on the theory of screws: Cambridge University Press.Jessop CM. 1903. Treatise on the Line Complex: American Mathematical Society.

Cylindroid with one screw of infinite pitchA treatise on the theory of screw p22

Sir Robert Ball, First published 1900

The screw is a geometrical element on its own rightthe linear line complex (LLC)of an Instantaneous screw

Gibson, James J.,The concept of the stimulus in psychology.

American Psychologist, Vol 15(11), Nov 1960, 694-703.

Huang C, Kuo W, Ravani B. 2008. On the linear line complex and helicoidal vector

field associated with homologous lines of a finite displacement. Mechanism and

Machine Theory 43:138-146.

Fiber tractography imaging and LLCsuperabundance

Individual muscle fiber p

pole

polar plane q

Kim W, Espanha M, Veloso A, Araújo D, João F. 2013a. An Informational Algorithm as the Basis for Perception-Action Control of the Instantaneous Axes of the Knee. J Nov Physiother 3:2.

the units of anatomy are not the units of function

Etymology of AnatomyTomnein-To cutTomia-CuttingAna-UpAnatomy-To Cut Up

Vastus Lateralis-The Enormous Side Vastus Medialis-The Enormous Middle

Anatomy. Named parts, not Function: Julian Baker, www.functionalfascia.com

Information theory

knee complex in involution as the organs of sensitivity

Kim W, Kohles SS. 2012. A reciprocal connection factor for assessing knee-joint function. Computer Methods in Biomechanics and Biomedical Engineering 15:911-917.

𝐴𝑟𝑡𝑖𝑐𝑢𝑙𝑎𝑟 𝑠𝑐𝑎𝑛𝑛𝑖𝑛𝑔 = 𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑚𝑢𝑠𝑐𝑢𝑙𝑎𝑟 𝑎𝑐𝑡𝑖𝑣𝑖𝑡𝑦𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑗𝑜𝑖𝑛𝑡 𝑠𝑡𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛

MCLP1PCLACLP2LCL

=0

The sensitivity of touch to kinesthesis

Kim W, Veloso A, Araújo DK, SS. 2015. Novel computational approaches characterizing knee physiotherapy. Journal of Computational Design and Engineering 1:55-66

(sensitivity)1 = knee twist-amplitudes divided by the amplitude of the twist of the foot = ∞

(sensitivity)2 = knee actuator wrench-intensities divided by the intensity of the foot wrench = 0

.

𝑇𝑎𝑐𝑡𝑖𝑙𝑒 𝑠𝑐𝑎𝑛𝑛𝑖𝑛𝑔 = 𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑚𝑜𝑡𝑜𝑟 𝑎𝑐𝑡𝑖𝑣𝑖𝑡𝑦𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑠𝑘𝑖𝑛 𝑠𝑡𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛

Relationship between two bodies in contact for motion transmission between parallel axes

Dooner DB. 2002. On the Three Laws of Gearing. Journal of Mechanical Design 124:733-744.

Common normal tothe point of contact

Pitch Point

The Ball-Disteli diagram

S

T

IAK

X

Z (mm)

Y

0

bb

Computational framework to predict the constraint forces was shown with the proposed knee model. Judicious choices of the virtual displacement (i.e. IAK) are crucial because the principle of virtual work for static equilibrium was applied on these special axes among tentative axes.

Click icon to add pictureKnee X-ray

Movement coordinates ofthe shank and thigh

(x,y,z)

Ground reaction forceswith COP

Screwaxes of

theshank

Screwaxes of

thethigh

Screwaxes of

theknee

Reciprocally connected knee model

Virtual workfor static

equilibrium

Constraint forces

Reciprocalconfiguration

diagram

Input Output

Step 1 Step 2 Step 3

Click icon to add picture

: A special line complex is the linear line complex defined by a single twist . Every marker point of the segment has its velocity vector tangential to the helix that passes through it. The pattern of this velocity vector is a helicoidal velocity field. Each marker point that does not coincide with the twist axis of is referred to as a pole. Associated with each pole is its corresponding polar plane. Shown are a polar plane and its corresponding pole as defined by the instantaneous screw axis .The ISA used to transform the marker set to must be determined form cylindroids . and are two twists of zero pitch on the cylindroid .

$ISApole

(marker)polar plane

Observation of the lost degree of freedom

twist about the two screw on S and T on the cylindroids (S, T) by a single twist about a single screw

-1000

100200

300400

500

-300-200

-1000

100200

300400

500600

-400

-200

0

200

400

600

800

Knee instantaneousaxes

Ground reactionforces

-50

0

50

100

150

200

250

300

200

220

240

260

280

300

320

-500

-400

-300

-200

-100

0

100

200

300

X (mm)Y (mm)

Z (mm)

-50

0

50

100

-100

-50

0

50

100-50

0

50

100

150

200 Lat

1

(a)

X (mm)Y (mm)

Z (mm)

-300-200

-1000

100

-100

-50

0

50

100-50

0

50

100

150

200

250

Lat

1

(b)

X (mm)Y (mm)

Z (mm)

Kim W, Veloso AP, Araújo D, Vleck V, João F. 2013. An informational framework to predict reaction of constraints using a reciprocally connected knee model. Computer Methods in Biomechanics and Biomedical Engineering:1-

12.

A comparison between the results of our theoretical approach and data gathered from an instrumented knee during trunk-sway gait trials (Fregly et al., 2012).

four contenders worldwide at the 2010 ASME Summer Bioengineering Conference, hosting a "Grand Challenge Competition to Predict In Vivo Knee Loads"

at the lateral contact are compared with RMS error being 148.1 N.

at the medial contact are compared with RMS error being 147.3N

0 10 20 30 40 50 60 70 80 90 100

-100

0

100

200

300

400

500

600

700

PredictedMeasured

0 10 20 30 40 50 60 70 80 90 1000

200

400

600

800

1000

1200

PredictedMeasured

The position and size of drilling of the tibial femoral tunnel can be customized

0 0.2 0.4 0.6 0.8 1

-100

-80

-60

-40

-20

0

20

40

60

80

100

Z (m

m)

X (mm)Y (mm)

-0.2-0.15-0.1-0.0500.050.10.150.2

-100

-80

-60

-40

-20

0

20

40

60

80

100

Z (m

m)

Y (mm)X (mm)

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

0.20 0.2 0.4 0.6 0.8 1

X (m

m)

Y (mm)

-0.2

-0.1

0

0.1

0.2 00.2

0.40.6

0.81

-100

-50

0

50

100

Z (m

m)

X (mm) Y (mm)

Knee

Thigh

Shank

Directrix 2

Directrix 1

Reconstructed system of knee complex in involution

Blumensaat’s line

Point of contact c

FVTV

BIOMECHANICS AND FUNCTIONAL MORPHOLOGY LABORATORY

Conclusion

The layout of physical surfaces, according to this theory, is perceived by the way of the disposition of body members when touch and posture are covariant.

The covariance of cutaneous and articular motion is information in its own right.

The units of anatomy are not the units of function. The movement systems are characterized by based primarily on purposes.

Fascia is this layer which is the translator of our touch to the deeper tissues beneath

My ultimate concerns arise from those therapists who think that in order to go deep you have to go in hard. You don’t and you shouldn’t.

Julian Baker has been a hands on therapist for over 25 years. The founder of the European College of Bowen Studies, ECBS

Acknowledgement

Thank you!

Ask not what's inside your head, but what your head's inside of. -- J.J. Gibson