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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...

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Detalles Bibliográficos
Autores principales: Dunne, James J., Uchida, Thomas K., Besier, Thor F., Delp, Scott L., Seth, Ajay
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2021
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.
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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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