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Refinement of the upper limb joint kinematics and dynamics using a subject-specific closed-loop forearm model

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Abstract

A biofidelic multibody model of the upper limb for the quantitative assessment of joint kinematics and dynamics has the potential to become an innovative tool in many application fields. However, forearm kinematic modeling still presents challenges due to the complexity of providing a closed-loop and subject-specific definition of its multiple degrees of freedom. In this context, this study aims to refine the upper limb multibody model by means of a forearm closed-loop kinematic chain and personalized joint parameters to quantify the forearm joint kinematics and dynamics. To assess the benefits of this refinement, the proposed model is compared to four conventional models according to (i) the global and local movement reconstruction errors during inverse kinematics and (ii) the joint torque-angle pattern. Fifteen (15) healthy adults performed two cyclic dynamic tasks, namely elbow flexion–extension (FE) and forearm pronation–supination (PS). Results show that the proposed model leads to a reduction of the global reconstruction error up to 15 % and 31 % during FE and PS tasks, respectively, while computational times remain similar. The local reconstruction errors show less compensation at the shoulder and wrist for the proposed model. The PS angle and torque are increased by 24 % during the PS task for the proposed model when compared to conventional models. In conclusion, this study addresses novel methodology aspects and a comprehensive description of a forearm multibody model that can serve in multiple applications requiring a realistic representation of the upper limb kinematics and dynamics without increasing the computational time.

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Abbreviations

3D:

three-dimensional

AC:

acromioclavicular

AoR(s):

axis (axes) of rotation

BSIP:

body segment inertia parameters

CoR(s):

center(s) of rotation

DoF(s):

degree(s) of freedom

FE:

flexion–extension

GH:

glenohumeral

GO:

global optimization

HR:

humeroradial

HU:

humeroulnar

ISB:

International Society of Biomechanics

LCS:

local coordinate system

MRI:

magnetic resonance imaging

PS:

pronation–supination

RC:

radiocarpal

RU:

radioulnar

SARA:

symmetrical axis of rotation approach

SC:

sternoclavicular

SCoRE:

symmetrical center of rotation estimation

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Acknowledgements

This work was partially supported by the Fonds québécois de la recherche sur la nature et les technologies (FQRNT), NSERC/Discovery, and the MÉDITIS (NSERC/CREATE) training program and scholarships in biomedical technologies.

Author information

Authors and Affiliations

  1. Research & Engineering Chair Applied in Pediatrics (RECAP), CRME—Sainte-Justine UHC, 5200 rue Bélanger, office GR-123, Montreal, Qc, Canada, H1T 1C9

    Maxime Raison

  2. Department of Mechanical Engineering, École Polytechnique de Montréal, Montreal, Qc, Canada

    Maria Laitenberger, Maxime Raison & Delphine Périé

  3. Research Center, Sainte-Justine UHC, Montreal, Qc, Canada

    Maria Laitenberger & Delphine Périé

  4. Department of Kinesiology, Université de Montréal, Montreal, Qc, Canada

    Mickael Begon

Authors
  1. Maria Laitenberger
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  2. Maxime Raison
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  3. Delphine Périé
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  4. Mickael Begon
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Corresponding author

Correspondence to Maxime Raison.

Appendices

Appendix A: Kinematic chains of the models

Table 4 Kinematic chain description of the proposed model (A)
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Table 5 Kinematic chain description of model B
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Table 6 Kinematic chain description of model C
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Table 7 Kinematic chain description of model C2
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Table 8 Kinematic chain description of model D
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Appendix B: Functional local coordinate system

The functional LCS based at the HU joint, intended to describe the forearm rotations, is built as follows (adapted from [6]):

  • Z HU=AoR FE/∥AoR FE∥: pointing lateral

  • X HU=Y H1×Z HU/∥(Y H1×Z HU)∥: pointing forward

  • Y HU=Z H1×X HU/∥(Z HU×X HU)∥: pointing proximal

where AoR FE is the flexion–extension axis of rotation of the elbow computed through the SARA method [39], while Y H1 is the anatomical axis of the humerus constructed as follows using the glenohumeral (GH) joint center and the mean position between the medial (EM) and lateral (EL) epicondyles (E=(EM+EL)/2):

  • Y H1=(GH−E)/∥(GH−E)∥: pointing proximal

Appendix C: Description of the marker locations

Table 9 Locations of the n markers on the thorax, clavicle, scapula, humerus, ulna, radius, and hand
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Appendix D: Theoretical paths at the distal end of the forearm

Fig. 9
figure 9

Cross-sectional view of the theoretical paths of each forearm bone at the distal end. (a) Isometric view of the forearm. Combination of ulnar abduction–adduction and flexion–extension entailing a circular trajectory of the ulna at the distal end, as described by Amis [24] during (b) supination and (c) pronation. Ulnar flexion–extension entailing a planar trajectory of the ulna at the distal end, as described by the model of Kecskeméthy and Weinberg [2] during (d) supination and (e) pronation. The green arrow indicates that there is no axial rotation of the ulna (Color figure online)

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Laitenberger, M., Raison, M., Périé, D. et al. Refinement of the upper limb joint kinematics and dynamics using a subject-specific closed-loop forearm model. Multibody Syst Dyn 33, 413–438 (2015). https://doi.org/10.1007/s11044-014-9421-z

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