Link Segment Analysis

Applied forces Joint moments Net joint force Muscle forces, and Joint compression and shear forces

Back Moments
So far we have focused on back moments with simple models that assumed we knew the location of the upper body centre of mass. These models are not very accurate, because the true centre of mass for the upper body depends on the position of each segment. Dealing with the model segment by segment allows you to calculate moments about each joint.

Forces Acting on the Link Segment Model

Gravitational forces. Ground reaction forces and

other external forces. Muscle and ligament forces Joint reaction forces.

Link Segment Models

By looking at each segment in sequence we can work our way through the body and calculate the joint moment due to external forces and the NET joint forces at each joint. However, unless we can calculate the muscle and ligament forces acting across the joint we cannot calculate the true articular (bone-on-bone) compression and shear forces.

Joint Strength
In some cases, analysis of external forces and joint moment is sufficient. Joint moments and positions (angles) can then be compared to data on joint strengths. In these circumstances analysis of internal forces acting on each segment (muscle, ligament, and joint articular force) is not necessary.

Free Body Diagrams

Fj
Fm3 Fm2 The FBD opposite is for a combined forearm hand system. The problem is Statically Indeterminate.

Fm1

mg

However this system can be reduced to a generalised (net) joint moment and a net joint force
Ry1 Rx1
M1
M1 is the net moment due to all internal (muscle) forces for segment 1. Ry1 and Rx1 are the net joint force components due to both muscle and articular forces

mg

This diagram is mechanically equivalent to the indeterminate problem in the previous slide

Static Equilibrium Equations Fy = 0 Fx = 0 M =0

This system can now be solved to obtain the joint moment

Solution
Ry1 Rx1
M1
M1 is the internal or reaction joint moment that balances the moment due to external forces (mg) .

mg

Solution for Static Equilibrium mg + Ry1 = 0 Rx1 = 0 M1 + Mmg = 0

Solution (cont.)
Ry1 Rx1
r
Rx1 = 0 Ry1 = -mg Hence, Rnet = - mg

M1

M1 + mg * r cos = 0, or M1 = - mg * r cos where r = distance from joint center to segment center of mass, and = angle of segmant to horizontal

mg
Note: M1 is +ve (anti-clockwise)

Limitations of this Method

The net force which is calculated at a joint will be the vector sum of the muscle forces and the true joint reaction force (bone-on-bone articular force). It is sometimes referred to as the joint reactive force in textbooks, but remember that it is not the real joint force. Unfortunately this net joint force cannot be separated into its muscular force and joint reaction force components.

 Note that we can reach this point without any knowledge of internal muscle and joint forces at all. HOWEVER, the muscle moment (M 1) must always be considered to act in concert with net joint force. Simply put, the net joint force (due internal forces) is equal and opposite to the external forces (gravitational and applied load). Similarly the net joint moment (due to internal forces) is equal and opposite to the external moments (due to gravitational and applied loads).

Multiple linked segments

The above analysis can be extended to multiple linked segments The net joint force and joint moment acting at the proximal end of segment 1 must be balanced by an equal and opposite force and moment acting on the distal end of segment 2 Thus we can link together a series of segments (hand forearm upper arm etc.) a shown in the next slide

Ry2

Rx2
M2

Two Segments

m2 g
-M1

Ry1 Rx1
M1

-Rx1 -Ry1

m1 g

Static Equilibrium Equations

Segment 1 m1g + Ry1 = 0 Rx1 = 0 M1 + Mm1g = 0 Segment 2 Ry2 + m2g - Ry1 = 0 Rx2 - Rx1 = 0 M2 - M1 + Mm2g + M-Rx1 + M-Ry1 = 0

Advantages
The advantage of this method is that net joint moments can be calculated for all the joints (with the HAT model shown in the previous lecture on lifting, we are calculating the moment only about one joint). If you calculate a moment across a joint system where you can accurately model the muscles as a single equivalent muscle, then you can determine muscle force and joint reaction force.

Analysis of a single joint using the link segment model

In some work situations you may only be interested in the loading at a single joint - for example the L5/S1 lumbar joint. Using a link segment model you can calculate joint force and moment directly without considering the intervening links. Note that the net joint forces and moments of adjacent segments are equal and opposite. Therefore they cancel out in the general equation. To solve for net joint force and moment, you need only consider the external forces acting on each segment and their respective moment arms about the joint in question (e.g. L5/S1). Moment arm is the perpendicular distance from the line of action of each external force to joint centre

Ry2

Rx2
M2

Two Segments
Geometrical Method
Need to calculate the moment arms for each centre of mass. While this is conceptually easier to understand the resultant geometry can be tricky when we get into multiple segments and external force vectors.

m2 g

m1 g

Ry2

Rx2
M2

Two Segments
Joint moment:
M2 + Mm2g + Mm1g= 0

m2 g

M2 + m2g * x2 + m1g * x1= 0

Joint force:
Rx2 = 0 Ry2 + m2g +m1g = 0

m1 g

Muscle and Joint Forces

Fj
Fm3 Fm2 The FBD opposite is for a combined forearm hand system. The problem is Statically Indeterminate.

Fm1

mg load

Multiple Muscle Moments Fj

Fm3 Fm2

Fm1

mg load

Even if you know each muscles line of action and insertion point you still cant establish what force to attribute to each muscle.

Multiple Muscle Moments Fj

Fm3 Fm2 Can solve this problem by using optimisation techniques. For example: minimize muscle or joint force; or minimize muscle stress (Fm/Am). Alternatively, can use EMG data to assign muscle forces.

Fm1

mg load

Simple Solution: A Single Equivalent Muscle

There are not many joints that we can claim that one muscle (or group with a common line of action and insertion) produces the moment (e.g. quadriceps in knee extension). For forearm flexion three prime movers. For lumbar spine we have bilateral erector spinae and latissmus dorsi . We often lump such muscle groups together and term them a single equivalent muscle.

Bone-on-Bone Forces
Assumptions:
there is a single equivalent muscle, the line of force action of that muscle is known, and The moment arm is known.

This allows us to calculate equivalent muscle force and the true (approximate) joint reaction force (the bone-on-bone compression and shear forces).

L4 L5

S1
5-6 cm

Back to a Link Segment Model Fj

The problem is reduced to a single equivalent muscle. Now we can solve it!

Fm

mg load

In this diagram joint reaction moment M1 represents the moment due to muscle force Fm : or, M1 = (Fm x d).

Fj
d

Fm

Solution: M1 + Mmg + Mload = 0 M1 = - Mmg - Mload F m = M1 / d

mg

load

Sample Problem
What flexor muscle moment is needed to hold the forearm/hand segments in the position shown? Use 50% male anthropometry from Kin 201 Taking moments about the elbow. Hence the system in question is the forearm and hand. Draw a diagram. To calculate the answer the first step is to calculate the moment arms from the elbow. Forearm com = 10.9 cm Hand com = 25.3 + 9.2 = 34.5 cm Moments: 0.109 x 1.2 x -9.81 = -1.294 Nm 0.345 x 0.4 x -9.81 = -1.354 Nm Total = -2.65 Nm Therefore the elbow flexor muscle moment is +2.65 Nm

Additional Question
If the forearm flexors insert 3 cm from the axis of rotation of the elbow, what is the muscle force and bone-on-bone force? Moment = Force x Distance 2.65 = F x 0.03 F = 88.333 N Looking at the free-body diagram again. F=0 88.33 -11.77 - 3.92 + F R=0 FR = + 72.64 N

Link Segment Models Assumptions

Each segment has a fixed mass located as a point mass at its centre of gravity. The location of the centre of gravity remains fixed during movement. The joints are considered to be hinge (pin) joints (2 dimensional models). The moment of inertia of each segment about its mass centre (or distal and proximal joint centres) is constant during movement.

Ry3

M3 -80o

Problem
What is the muscle moment at the wrist, elbow and shoulder for our 50th percentile male if he is carrying a load of 300 N? Assume the load acts at the hand centre of gravity. M2

m3 g

-M2

Ry2

Ry1 -30o m2 g -Ry1

-M1 M1 -30o

-Ry2

m1 g

-300 N

Problem as before
M3 -80o Remember this can be done geometrically. All four vertical forces will contribute to the moment M3.

m3 g
-30o -30o

m2 g

m1 g

300 N

Predicted Strength
There are tables that suggest safe limits for muscle moments for various joints. Other tables provide equations that predict joint strength. These generally factor in joint angles. With the use of link-segment models, these tables can be consulted to compare demands of the job with worker capabilities. It is for the ergonomist, designer, etc, to decide if task is suitable. This is discussed in the next lecture