Leardini Alberto, Belvedere Claudio, Nardini Fabrizio, Sancisi Nicola, Conconi Michele, Parenti-Castelli Vincenzo
Laboratory of Movement Analysis and Functional-Clinical Evaluation of Prostheses, Istituto Ortopedico Rizzoli, Bologna, Italy.
Laboratory of Movement Analysis and Functional-Clinical Evaluation of Prostheses, Istituto Ortopedico Rizzoli, Bologna, Italy.
J Biomech. 2017 Sep 6;62:77-86. doi: 10.1016/j.jbiomech.2017.04.029. Epub 2017 May 22.
Kinematic models of lower limb joints have several potential applications in musculoskeletal modelling of the locomotion apparatus, including the reproduction of the natural joint motion. These models have recently revealed their value also for in vivo motion analysis experiments, where the soft-tissue artefact is a critical known problem. This arises at the interface between the skin markers and the underlying bone, and can be reduced by defining multibody kinematic models of the lower limb and by running optimization processes aimed at obtaining estimates of position and orientation of relevant bones. With respect to standard methods based on the separate optimization of each single body segment, this technique makes it also possible to respect joint kinematic constraints. Whereas the hip joint is traditionally assumed as a 3 degrees of freedom ball and socket articulation, many previous studies have proposed a number of different kinematic models for the knee and ankle joints. Some of these are rigid, while others have compliant elements. Some models have clear anatomical correspondences and include real joint constraints; other models are more kinematically oriented, these being mainly aimed at reproducing joint kinematics. This paper provides a critical review of the kinematic models reported in literature for the major lower limb joints and used for the reduction of soft-tissue artefact. Advantages and disadvantages of these models are discussed, considering their anatomical significance, accuracy of predictions, computational costs, feasibility of personalization, and other features. Their use in the optimization process is also addressed, both in normal and pathological subjects.
下肢关节的运动学模型在运动器官的肌肉骨骼建模中有多种潜在应用，包括自然关节运动的再现。这些模型最近也在活体运动分析实验中显示出了价值，在该实验中软组织伪影是一个已知的关键问题。这一问题出现在皮肤标记物与下方骨骼的界面处，可以通过定义下肢的多体运动学模型以及运行旨在获得相关骨骼位置和方向估计值的优化过程来减少。相对于基于每个单个体节单独优化的标准方法，该技术还能够考虑关节运动学约束。传统上，髋关节被假定为具有三个自由度的球窝关节，而许多先前的研究针对膝关节和踝关节提出了许多不同的运动学模型。其中一些是刚性的，而另一些具有柔顺元件。一些模型具有明确的解剖学对应关系并包含实际关节约束；其他模型更侧重于运动学，主要旨在再现关节运动学。本文对文献中报道的用于主要下肢关节且用于减少软组织伪影的运动学模型进行了批判性综述。讨论了这些模型的优缺点，考虑了它们的解剖学意义、预测准确性、计算成本、个性化可行性以及其他特征。还探讨了它们在正常和病理受试者的优化过程中的应用。
