Biomedical Engineering

EDUARDO PALERMO
EDUARDO PALERMO

The aim of this course is providing students with basics of instrumentation management and the comprehension of biomechanical models used in motion analysis. The course describes the operation principle of sensors typically used in a movement analysis laboratory, such as force, position, velocity and displacement transducers. Subsequently, it explains the principal techniques for the experimental data analysis of biomechanical variables, which exhaustively represent human movement kinematics and kinetics.

Class attendance is expected and strongly encouraged.

The course aims at providing students with the fundamentals necessary for the management of measurement instrumentation and the understanding of the biomechanical models used in the analysis and synthesis of human movement. First, the course intends to describe the working principles of sensors typically used in a motion analysis laboratory, including transducers used to measure force, position, velocity and displacement. Later, but with equal importance, the main processing techniques of experimental data are explained with the aim of identifying the biomechanical variables that represent the kinematics and kinetics of human movement.

No previous course is strictly required. However, students are expected to be familiar with concepts from a basic mechanical measurements course and with rigid-body dynamics.

Lesson topic
1. Introduction Examples of research in Biomechanics
History of Gait Analysis
Critical issues
2. State of the Art State of the art on experimental methodologies in Biomechanics
3. Kinematics of the Rigid Body Review of linear algebra
2. State of the Art Motion Analysis Laboratory Instrumentation
10. Matlab Tutorial Matlab Tutorial - Vectors
3. Kinematics of the Rigid Body Localization not optimal
2. State of the Art Motion Analysis Laboratory Instrumentation
10. Matlab Tutorial Matlab Tutorial - Vectors
3. Rigid Body Kinematics Optimal localization
4. Joint kinematics Measurements of joint kinematics
10. Matlab Tutorial Matlab Tutorial - Not optimal localization
3. Rigid Body Kinematics Differential kinematics
Exercises in exam mode
5. Joint Dynamics Measurements of joint dynamics
Measurements of joint dynamics
10. Matlab Tutorial Matlab Tutorial - Optimal localization
5. Joint Dynamics Measurements of joint dynamics
Measurements of joint dynamics
10. Matlab tutorial Matlab tutorial - Joint dynamics
6. Posturography Posturography and pressure sensor arrays
Sports Biomechanics seminar in collaboration with CONI
7. IMU Inertial Systems in Biomechanics (IMU)
Inertial Systems in Biomechanics (IMU)
Inertial Systems in Biomechanics (IMU)
10. Matlab Tutorial Matlab Tutorial - IMU
8. Electromyography Electromyography
9. Robot Mediated Therapy Robot Mediated Therapy
10. Matlab Tutorial Matlab Tutorial- Electromyography
9. Robot Mediated Therapy Robot Mediated Therapy
Robot-mediated therapy
Exercises in exam mode

- David A. Winter, Biomechanics and Motor Control of Human Movement. Wiley.
- Lecture notes provided by the teacher.

The course is taught via traditional lectures. A substantial part of the class schedule is reserved for assisted practical sessions of implementation of biomechanical models in Matlab.

Students are invited to come to class regularly. However, attendance is not strictly required.

Evaluation is based on both a written and oral exams. Written exam includes: exercises on joint kinematics and dynamics, short essay questions on theory, and Matlab coding test.

1. Referring to the Figure, locate the thigh reference system (CSthi) in the CS0 laboratory system, such that:
• Othi coincides with the midpoint between the RKNEE_m and RKNEE_l markers
• z-axis is directed upwards on the line joining between the RTHI marker and the midpoint between the RKNEE_m and RKNEE_l markers
• zy-plane formed by the three markers (LTHI, LKNEE_m and LKNEE_l) with x directed frontally (outgoing from the sheet)
Write the pose matrix of the segment under examination in symbolic form.
2. Considering what was obtained in point 1a and the Figure, define the JCS of the hip knowing that the order of rotations is as follows:
a. Abduction/adduction
b. Front/back flexion
c. Internal/external rotation
Motivate your answer and state which is the relative Euler/Cardano sequence. Indicate the positive rotations for each plane.
3. Calculate the transformation matrix H such that 𝛚 𝒑𝒍 𝐭𝐡𝐢 𝒑𝒍 = 𝐇(𝛂)𝛂̇, corresponding to the Euler/Cardano sequence previously chosen.
4. Referring to the Figure, calculate the total moment (Nm) with respect to the CS0 on the NECK given by the forces F1 (applied on the tip of the nose) and by the weight force of the head applied on its center of mass (M), knowing that:
• F1hd = (-60, 0, 0) N;
• Mhd = 8 Kg
• L1 = 100mm;
• L2 = 95mm;
• L3 = 110mm.
• G0= (-9.8 , 0, 0) m/s^2
5. Define the optimal localization reporting the main steps.

• Introduction:- Examples of Research in Biomechanics- Hystory of Gait Analysis- Critical aspects


• State of Arts of experimental methods:- Motiono Analysis Lab Instrumentation


• Rigid body kinematics and dynamics:- Recall of linear algebra- Non-optimal localization- Optimal localization- Differential kinematics


• Joint kinematics:- Joint kinematics measurement systems and techniques 


• Joint kinetics:- Joint kinetics measurement systems and techniques 


• Posturography:- Balance analysis and pressure sensor matrices


• IMUs:- Composition and use of IMUs in Biomechanics


• Electromiography:- EMG signal measurement systems and techniques- Muscle synergy analysis


• Robot Mediated Therapy:- Fundamental principles- Rehabilitation Robot typologies- Impedance and admittance contol- Motion quality indices


• MATLAB Tutorials:- Vectors- Non-optimal localization- Optimal localization- Joint kinetics- IMUs- EMG