Lecture outline

Muscle and Joint ! mechanics of the hip during single legged

stance (continued)
Forces II ! definition of muscle moments

! effect of joint angle on moment arm

! statically indeterminate systems

Stephen Robinovitch, Ph.D. KIN 201 2007-1 Lecture 8: Joint Forces II 1 1 2

Hip forces during single legged !F x = 0:

FJ cos" # FM cos$ = 0 (1) y
stance
!F y =0:
x
Task: estimate the hip FJ sin " # FM sin $ # W2 = 0 (2)
joint reaction force FJ a
generated during ! ME = 0 :
FM a " W2 c = 0 c
single-legged stance, a
as a function of body # c&
FM = W2 % ( (3)
weight W. Use the free $ a'
c
body diagram shown From (3) : FM = 2.17W
! = 75.5 deg
at right, and assume F cos! 2.17W # cos70
From (1) : FJ = M = FM = 2.17W
that W2 = 5/6*W, a = 5 swing cos" cos"
leg (not y FJ = 2.96W
cm, c = 13 cm, and ! = contacting 5
F sin " + W2 2.17W # sin70 + 6 W
70 deg. ground)
x From (2) : sin ! = M = cos!
3 FJ 2.17W # cos70 4
 Hip forces during single legged Recall from Moments and Torques
stance - summary lecture:
during single legged stance, A force F applied to a rigid body at a location A can be
moment arm of hip translated to another location O on the body, if a moment (or
abductor muscle force is 2.17W 2.96W couple) MO is also added at O.
much smaller than moment
arm of gravitational force 0.83W
(a/c = 2.6)
therefore, vertical joint 0.17W
reaction force is nearly 3 2.17W
times body weight stance
leg 2.96W swing
horizontal joint reaction (contacting leg (not
force is 0.74*body weight; ground) contacting
arises from muscle ground)
geometry (i.e., would be W
zero if muscle was vertical)
5 6

Furthermore, multiple forces applied to a rigid body can be Concept of muscle moment
replaced by a single resultant force and a single moment, ! so far, we have focused on
acting at a specific location on the body. In joint muscle forces FM and joint
mechanics, we use this concept to define: reaction forces FJ associated
with tasks such as lifting,
net joint force (FN) = joint reaction force + muscle force standing, and lower extremity
(or sum of muscle forces) exercise
muscle moment (MM) = moment at joint centre created by ! muscle moment is defined as
all muscle forces the moment at the joint centre
created by FM
! in static equilibrium conditions, NOTE: The above diagram
the muscle moment is often illustrates moments with respect to
equal and opposite to the sum of the joint centre created by the
moments created by biceps force, the weight of the
forearm and hand, and the external
Multiple external Equivalent resultant gravitational and external forces load. It is not a complete free body
forces force and moment 7 diagram. 8
 Muscle moment at the hip during Muscle moment at the ankle during
single-legged stance the final (push-off) stage of stance
FN = W
a MM = FMa = Wb Nm
FJ
FM

b
0.83W = 0.83W
=
MM =
0.11W Nm
FM = 2.17W
swing swing
FJ = 2.96W FN = 0.83W
leg (not leg (not
contacting contacting
ground) ground)

NOTE: magnitude of MM in Nm = 0.83W 0.13 = 2.17W 0.05 = 0.11W W

9
W 10

Pros and cons of using muscle Statically indeterminate systems

moments versus muscle forces
MUSCLE FORCES
advantage:
allows estimate of muscle force
and joint reaction force (often
required to determine injury risk,
etc.)
disadvantage:
works only for models that
include one muscle
requires knowledge of muscle
geometry, including moment arm
of the muscle
MUSCLE MOMENTS
advantage:
allows for an estimate of net
moment caused by contraction of
muscles spanning the joint,
without having to account for
muscle geometry
compatible with strength
measures
disadvantage:
allows for an estimate net joint
force, but cannot determine joint
reaction force or muscle force
11
! statically indeterminate system: a
system having more unknown
forces that there are equations of
equilibrium
! we cannot solve for unknown
parameters using the equilibrium
equations alone - additional
equations are required
! often, forces are scaled to
electromyographic signals, or
scaled to cross sectional area
FM1 A1 FM1 A1
e.g., = ; =
FM 2 A2 FM 3 A3 12
 Determining muscle moments in Newtons Third Law: equal and opposite
multi-segment systems forces and moments across joints
M2 y Ry2
Example 1: Rx2
Determine muscle x
M2
moments M1 and M2 c

in the system shown m2g

m2g
at right. M1 Ry1
M1
a Fapplied Rx1
Rx1 M1
Fapplied
m1g Ry1
b
d
13 m1g 14

Solving for M1: Solving for M2:

Ry2 y
y ! Fx = 0 :
! Fx = 0 : Rx2 " Rx1 = 0 Rx2 x
c
Rx1 = 0 M2
x Rx2 = 0 (since Rx1 = 0)
Ry1 ! Fy = 0 :
! Fy = 0 : Ry2 = m2 g + Ry1
Ry1 = Fapplied +m1 g Rx1 Fapplied m2g
Ry2 = ( m2 + m1 ) g + Fapplied M1
M1
! M0 = 0 : a
! M0 = 0 : m1g M2 = M1 + Ry1 " b +m 2 g " a Rx1
M1 = Fapplied " d +m1 g " c Ry1
d M2 = Fapplied (b + d ) + m1 g(b + c)
b
15
+m 2 g " a 16
 Determining muscle moments in
Rx1 = 0 y
M2 multi-segment systems
Ry1 = Fapplied +m1 g x Example 2: Specify
c the direction of
M1 = Fapplied ! d +m1 g ! c m2g muscle moments at
M1 the ankle, knee, and
Rx2 = 0
a Fapplied hip for the individual
Ry2 = ( m2 + m1 ) g + Fapplied
shown at right.
m1g
M2 = Fapplied (b + d ) b
+ m1g( b + c) +m 2 g ! a d
W
17 18

Review questions
W-WT+S+F
W-WS+F ! Why is the joint reaction force at the hip during
MH single legged stance greater than body weight?
! How can the joint reaction force and muscle

W-WFOOT
MK force be replaced by a single joint force and
WT+S+F muscle moment?
WS+F
! What are the advantages and disadvantages of

MA calculating muscle moments versus muscle

forces?
WF W W ! The moment arm of the biceps is maximum at
W
what elbow flexion angle?
! What techniques are available for solving

19 statically indeterminate systems? 20