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A marker registration method to improve joint angles computed by constrained inverse kinematics
Accurate computation of joint angles from optical marker data using inverse kinematics methods requires that the locations of markers on a model match the locations of experimental markers on participants. Marker registration is the process of positioning the model markers so that they match the loc...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Public Library of Science
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8162579/ https://www.ncbi.nlm.nih.gov/pubmed/34048476 http://dx.doi.org/10.1371/journal.pone.0252425 |
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author | Dunne, James J. Uchida, Thomas K. Besier, Thor F. Delp, Scott L. Seth, Ajay |
author_facet | Dunne, James J. Uchida, Thomas K. Besier, Thor F. Delp, Scott L. Seth, Ajay |
author_sort | Dunne, James J. |
collection | PubMed |
description | Accurate computation of joint angles from optical marker data using inverse kinematics methods requires that the locations of markers on a model match the locations of experimental markers on participants. Marker registration is the process of positioning the model markers so that they match the locations of the experimental markers. Markers are typically registered using a graphical user interface (GUI), but this method is subjective and may introduce errors and uncertainty to the calculated joint angles and moments. In this investigation, we use OpenSim to isolate and quantify marker registration–based error from other sources of error by analyzing the gait of a bipedal humanoid robot for which segment geometry, mass properties, and joint angles are known. We then propose a marker registration method that is informed by the orientation of anatomical reference frames derived from surface-mounted optical markers as an alternative to user registration using a GUI. The proposed orientation registration method reduced the average root-mean-square error in both joint angles and joint moments by 67% compared to the user registration method, and eliminated variability among users. Our results show that a systematic method for marker registration that reduces subjective user input can make marker registration more accurate and repeatable. |
format | Online Article Text |
id | pubmed-8162579 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Public Library of Science |
record_format | MEDLINE/PubMed |
spelling | pubmed-81625792021-06-10 A marker registration method to improve joint angles computed by constrained inverse kinematics Dunne, James J. Uchida, Thomas K. Besier, Thor F. Delp, Scott L. Seth, Ajay PLoS One Research Article Accurate computation of joint angles from optical marker data using inverse kinematics methods requires that the locations of markers on a model match the locations of experimental markers on participants. Marker registration is the process of positioning the model markers so that they match the locations of the experimental markers. Markers are typically registered using a graphical user interface (GUI), but this method is subjective and may introduce errors and uncertainty to the calculated joint angles and moments. In this investigation, we use OpenSim to isolate and quantify marker registration–based error from other sources of error by analyzing the gait of a bipedal humanoid robot for which segment geometry, mass properties, and joint angles are known. We then propose a marker registration method that is informed by the orientation of anatomical reference frames derived from surface-mounted optical markers as an alternative to user registration using a GUI. The proposed orientation registration method reduced the average root-mean-square error in both joint angles and joint moments by 67% compared to the user registration method, and eliminated variability among users. Our results show that a systematic method for marker registration that reduces subjective user input can make marker registration more accurate and repeatable. Public Library of Science 2021-05-28 /pmc/articles/PMC8162579/ /pubmed/34048476 http://dx.doi.org/10.1371/journal.pone.0252425 Text en © 2021 Dunne et al https://creativecommons.org/licenses/by/4.0/This is an open access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/) , which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. |
spellingShingle | Research Article Dunne, James J. Uchida, Thomas K. Besier, Thor F. Delp, Scott L. Seth, Ajay A marker registration method to improve joint angles computed by constrained inverse kinematics |
title | A marker registration method to improve joint angles computed by constrained inverse kinematics |
title_full | A marker registration method to improve joint angles computed by constrained inverse kinematics |
title_fullStr | A marker registration method to improve joint angles computed by constrained inverse kinematics |
title_full_unstemmed | A marker registration method to improve joint angles computed by constrained inverse kinematics |
title_short | A marker registration method to improve joint angles computed by constrained inverse kinematics |
title_sort | marker registration method to improve joint angles computed by constrained inverse kinematics |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8162579/ https://www.ncbi.nlm.nih.gov/pubmed/34048476 http://dx.doi.org/10.1371/journal.pone.0252425 |
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