1

Dept. of Mechatronics Engg.

INTRO TO BIOMEDICAL
ENGINEERING

MODULE 4 – BIOMECHANICS

Dr Mohsin Tiwana
 What is
Biomechanics?
Basic Biomechanics, 6th edition
By Susan J. Hall, Ph.D.

McGraw-Hill/Irwin © 2012 The McGraw-Hill Companies, Inc. All rights reserved.

 What is biomechanics?
1-3

bio mechanics

The term biomechanics combines the prefix bio, meaning “life,” with
the field of mechanics, which is the study of the actions of forces,
(both internal muscle forces and external forces.) In biomechanics
we analyze the mechanical aspects of living organisms.
Terms

 Mechanics
 Study of physical actions and forces
 Kinematics:
 Description of motion (e.g, how fast, how high, etc.)
without consideration given to its mass or the forces
acting on it.
 Kinetics:
 The study of forces associated with motion.
 Example: Pushing on the table may or may not move
the table, depending upon the strength and direction of
the push
 Sub-branches of biomechanics:
1-5

• statics: study of systems in constant motion, (including

zero motion)
• dynamics: study of systems subject to acceleration

• kinematics: study of the appearance or description of

motion
• kinetics: study of the actions of forces (Force can
be thought of as a push or pull acting on a body.)

Basic Biomechanics, 6th edition

By Susan J. Hall, Ph.D.
 What is kinematics?

What we visually observe of a body in motion is called the

kinematics of the movement. Kinematics is the study of the size,
sequencing, and timing of movement, without regard for the
forces that cause or result from the motion. The kinematics of an
exercise or a sport skill is known, more commonly, as form or
technique. Basic Biomechanics, 6th edition
By Susan J. Hall, Ph.D. 1-6
 What is kinetics?

Kinetics is the study of forces, including internal

forces (muscle forces) and external forces (the
forces of gravity and the forces exchanged by bat
and ball).
Basic Biomechanics, 6th edition
By Susan J. Hall, Ph.D. 1-7
What is kinesiology?

Kinesiology
Adapted physical
Biomechanics education

Exercise
physiology Motor behavior Athletic training

Sport history Pedagogy

Sport philosophy Sport art Sport psychology

Kinesiology is the study of human movement.

Basic Biomechanics, 6th edition
By Susan J. Hall, Ph.D. 1-8
What is sports medicine?
Sports Medicine

Biomechanics Athletic training

Exercise Cardiac
physiology Physical therapy rehabilitation

Motor control Sport nutrition

Other medical
Sport psychology Athletic training specialties

Sports medicine is an umbrella term that encompasses both

clinical and scientific aspects of exercise and sport.
Basic Biomechanics, 6th edition
By Susan J. Hall, Ph.D. 1-9
 What questions or
problems are studied by
biomechanists?
What questions are studied by
biomechanists?
When not subject to
gravitational force,
astronauts lose significant
amounts of bone mass.
(Bone atrophies when not
subjected to forces.)
Exercise, however, is
known to increase bone
mass. So what kinds of
exercise should astronauts
do while in space in order
to preserve as much bone
as possible?
 What questions are studied by biomechanists?
12

Whether lifting weights

or lifting boxes in
industry, the act of
lifting places major
mechanical stress on
the low back. What
lifting kinematics
(techniques) can
minimize this stress?
 What questions are studied by biomechanists?
13

 How do toddlers
learn to balance their
torsos on little legs
unaccustomed to
walking? (This
question spans the
fields of
biomechanics, motor
learning, and motor
development.)
 What questions are studied by biomechanists?
14

Pitching can lead to

stress injuries of the
elbow and shoulder
joints. What pitching
technique
characteristics
minimize the
mechanical stresses to
these joints?
 What questions are studied by biomechanists?
15

Recreational runners,
as well as athletes in
many sports, often
stretch before a work
out. Does this actually
help or hinder
performance?
(Increasing evidence
suggests the latter…)
 What questions are studied by biomechanists?
16

 What biomechanical
elements of running
technique enable
some sprinters to
dominate over others
who are just as well
trained and have just
as strong
physiological
attributes?
 Qualitative vs. Quantitative:
17

qualitative: pertaining to quality (without the

use of numbers)
For example: strong, skillful, agile, flexible, fast

quantitative: involving numbers

For example: running speed = 5 m/s
height = 1.75m mass = 68.2 kg
18 Qualitative vs. Quantitative:
Quantitatively, the robot missed the coffee cup by 15 cm. Qualitatively, he
malfunctioned.
19 Qualitative vs. Quantitative:
Coaches rely heavily on qualitative observations of athletes’ performances in
formulating advice about technique.
Anatomical Planes
Definitions
 Static Analysis
 Dynamics Analysis
MECHANICS

 Rigid body mechanics are based on the

assumption that a solid body is considered to be
a rigid body if the distance between the particles
remains fixed when a force is applied.
Figure 2. Force
SEGMENTAL ANALYSIS

 We often make the assumption

that the human skeleton can be
represented as a series of links.
Researchers have used
everything from cones to
spheres to form the links which
best approximated the
complexity of the human body.
However, by far the most widely
adopted and simplest link
system representation is the
stick man.
25 SEGMENTAL ANALYSIS
 The stick man uses straight sticks to represent
27
each of the links. In any case, regardless of the
shapes which are used we also make the
assumption that the human link system is a
system of rigid bodies connected at the joints
Videotape Analysis: A Functional
Capacity Lift
Dept. of Mechatronics Engg.
Graphical Analysis
Figure 3.

Rigid Body Mechanics

kinematics kinetics

linear curvilinear statics dynamics

angular parabolic
KINETICS
◼ examines the causes of motion, the internal and
external forces that cause motion or cause a
body to remain at rest, and the interactions
between these forces. There are two branches of
kinetics; STATICS and DYNAMICS
KINEMATICS
 Describes the motion
of a body without
reference to the forces
causing it. Kinematics
examines how, when,
and where a body
moves.

For example, variables such as the displacement of a ball, the velocity of a skater,
and the acceleration of the free leg all describe motion, and are kinematic
variables.
Basic Building Blocks
 Bones
 Muscles
 Joints
Musculoskeletal Modeling

Model represents:
• Bone and Joint Mechanics/Dynamics
• Muscle Lines-of-Action
• Muscle Physiological Properties
• Muscle Activation Dynamics

Model calculations:

Acceleration F=M*A Force

Force A=F/M Acceleration

 Anatomical Database

Medical Images from Visible Human Project:

CT Images Cryo-Section Images

 Anatomical Database

3D Image Reconstruction:
 Anatomical Database

Reconstructed Bones and Muscles

 Skeletal Anatomy of Arm
Clavicle

Scapula Clavicle

Humerus

Scapula
Ulna

Radius

Carpals
Metacarpals
Phalanges
 Skeletal Anatomy of Arm
Clavicle

Scapula

Humerus

Ulna

Radius Ball-and-Socket Joint Behavior

Carpals
Metacarpals
Phalanges
Shoulder Joint Model
 Skeletal Anatomy of Arm
Clavicle

Scapula

Humerus

Ulna

Radius

Carpals
Revolute (Hinge) Joint Behavior
Metacarpals
Phalanges
Forearm Joints
Scapulothoracic Articulation
Musculoskeletal Modeling

Model represents:
• Bone and Joint Mechanics/Dynamics
• Muscle Lines-of-Action
• Muscle Physiological Properties
• Muscle Activation Dynamics

Model calculations:

Acceleration F=M*A Force

Force A=F/M Acceleration

 Muscular Anatomy of Arm

There are about 600 muscles in the human

body.
Muscular Anatomy of Arm
Muscular Anatomy of Arm
 Muscle Force Action

Hypothetical Muscle: Hypothetical Model:

Muscle Path Obstacle Models
Muscle Force Action

• Reconstructed Muscle
• Centroid Line-of-Action
• Modeled Muscle Path
Muscle Force Action
Other Modeled Muscle Paths:
 Muscle Force Action
Shoulder Muscles: Forearm Muscles:
 Muscle Force Action

Supraspinatus Biceps Brachii

Moment Arm (mm) A Moment Arm (mm) B
40 60

Hughes 50
30 Lemay
(Short)

40 (Long)
20 Liu

30
Murray
An
10
20

0
10

-10 0
0 15 30 45 60 75 90 0 15 30 45 60 75 90 105 120 135 150
Abduction Angle (deg) Flexion Angle (deg)
Musculoskeletal Modeling

Model represents:
• Bone and Joint Mechanics/Dynamics
• Muscle Lines-of-Action
• Muscle Physiological Properties
• Muscle Activation Dynamics

Model calculations:

Acceleration F=M*A Force

Force A=F/M Acceleration

Muscle Physiology
Muscle Physiology
Muscle Physiology
Muscle Physiology
Muscle Physiology
Muscle Physiology
 Modeling Muscle Physiology
Physiological Parameters:
Force vs. Length
maximum
isometric
force

optimal muscle
fiber length

pennation
angle

rest length of tendon

 Modeling Muscle Physiology

Optimization of Parameters:
 Modeling Muscle Physiology
Shoulder Abduction Torque (Nm) (A) Elbow Flexion Torque (Nm) (B)
150 100
Flexion
Abduction 80
100
60

40 Amis (1979)
50
Knapik (1983)
20
Hutchins (1993)
0 0
Otis (1994)
Reiser (1993) -20
-50
-40

-60
-100
-80
Adduction Extension
-150 -100
0 15 30 45 60 75 90 0 30 60 90 120 150
Glenohumeral Abduction Angle (deg) Elbow Flexion Angle (deg)
Joints (by tissue type)

Fibrous
 Fibrous joints connect bones without allowing any
movement. The bones of your skull and pelvis are
held together by fibrous joints. The union of the
spinous processes and vertebrae are fibrous joints.

Cartilaginous
 Cartilaginous joints are joints in which the bones are
attached by cartilage. These joints allow for only a
little movment, such as in the spine or ribs.

Synovial
 Synovial joints allow for much more movement than
cartilaginous joints. Cavaties between bones in
synovial joints are filled with synovial fluid. This
fluid helps lubricate and protect the bones. Bursa
sacks contain* the synovial fluid.
Synovial Joints

 Synovial joints allow for

much more movement than
cartilaginous joints. Cavaties
between bones in synovial
joints are filled with
synovial fluid. This fluid
helps lubricate and protect
the bones. Bursa sacks
contain* the synovial fluid.
Ball and socket Joints

 A ball and socket joint

allows for radial
movment in almost any
direction. They are
found in the hips and
shoulders.
Ellipsoid Joints

 Similar to a ball and socket joint -

- allow the same type of
movement to a lesser magnitude.
The wrist is an ellipsoid joint.
Saddle Joints

 A saddle joint allows

movement back and
forth and up and
down, but does not
allow for rotation like
a ball and socket
joint.
 Pivot Joints
75

 Pivot joints allow

rotation around an
axis. The neck and
forearms have pivot
joints. In the neck the
occipital bone spins
over the top of the
axis. In the forearms
the radius and ulna
twist around each
other.
 Gliding
76

 In a gliding or plane
joint bones slide past
each other.
Metacarpal and
metatarsal joints are
gliding joints
The knee
 A bad joint?!?
78

 30-50% of all sports

injuries
 0.2% of the general
population per year
for knee ligament
problems
 ACL and MCL are 90%
of all sport injuries
 Women are 2-8 times
greater risk
 Dept. of Mechatronics Engg.

DIRECTIONAL TERMS AND

JOINT MOVEMENTS
Miss Van Heuven
Horizontal vs. vertical
 Make sure that you know the difference
between horizontal and vertical!
 Horizontal (side to side)
 Vertical (up and down)

 Hint: To help you remember, think about the

sun rising and setting over the “horizon”
Recap - Anatomical Planes
Anatomical directional terms

▪ Anterior
▪ The front, or in front of

▪ Posterior
▪ The back, or behind (towards the rear)
Anatomical directional terms
Distal
 Away from, furthest from the origin

Proximal
 Near, closest to the origin
Anatomical directional terms
Superior
 Above, over

Inferior
 Below, under
Anatomical directional terms
Lateral
 Away from the mid-line (center)

 Towards the sides

Medial
 Towards the mid-line (center)

 Away from the sides

Joints in our Bodies
 We have already studied about Joints -
wherever 2 or more bones meet = A
skeletal joint
 There are many different types of joints
that can move in very different ways
 There are actually 18 different joint
classifications
Types of Joint Movements
 Flexion
 Movement that decreases the angle between 2
bones
Types of Joint Movements
 Extension
 Movement that increases the angle between 2
bones
Types of Joint Movements
 Hyperextension
 Movement beyond the natural range of motion
Types of Joint Movements
 Abduction
 Movement of the limbs away from the middle of the
body
 (Describes movement of limbs only)
Types of Joint Movements
 Adduction
 Movement of the limbs toward the middle of the
body
 (Describes movement of limbs only)
Types of Joint Movements
 Rotation
 Movement of a bone on an axis, toward or away
from the body
Types of Joint Movements
 Circumduction
 Circularmovement of limbs around an axis
 The proximal portion of the limb remains stationary
◼ Proximal = where the limb attaches to the body

 The distal portion moves in a circle

◼ Distal = the point on the limb that is furthest from the
proximal attachment
Types of Joint Movements
 Supination
 To turn upward
 To face a limb or body towards the ceiling

 Ex: Turn palm upward so that it faces the sky

Types of Joint Movements
 Pronation
 To turn downward
 To face a limb or body towards the ground

 Ex: turn palms downward so that they face the floor

Types of Joint Movements
 Plantar Flexion
 Movement that extends the foot
 Ex: Pointing your toes like a ballerina
Types of Joint Movements
 Dorsiflexion
 Movement that flexes the foot
 Ex: Try to touch your toes to the front of your shin
Types of Joint Movements
 Inversion
 Turns the sole of the foot inward (medially)
Types of Joint Movements
 Eversion
 Turns the sole of the foot outward (laterally)
Types of Joint Movements
 Protraction
 Moving a body part forward (in the transverse
plane)
 Ex: shoulders and jaw
Types of Joint Movements
 Retraction
 Moving a body part backwards (in the
transverse plane)
 Ex: Neck or jaw
Types of Joint Movements
 Elevation
 Lifting a body part upward (superiorly)
 (Occurs in the frontal plane)
 Ex: Shoulders
Types of Joint Movements
 Depression
 Moving a body part downward (inferiorly)
 (Occurs in the frontal plane)
 Ex: Shoulders
Types of Joint Movements
 Opposition
 Moves the thumb to the tips of the other fingers
 (That is why they are called “Opposable
thumbs”)
Video
Crash Course in the Skeletal System
 https://www.youtube.com/watch?v=RW46rQK

Wa-g

Easy way to remember movements

 https://www.youtube.com/watch?v=aRaLjN2cT
Yo
Summary

 Human body is a very complex system

 Bones are very strong mechanical members
 Self healing
 Can be very slippery
Machines
 The musculoskeletal system is a series of simple
machines
 Machines are used to create a mechanical
advantage
 They may balance multiple forces
 Enhance force thus reducing the amount of force
needed to produce
 Enhance the range of motion or the speed of
movement
Levers
 Levers are used to alter the resulting direction of
the applied force
 A lever is a rigid bar (bone) that turns about an
axis of rotation or fulcrum (joint)
 The lever rotates about the axis as a result of a
force (from muscle contraction)
 The force acts against a resistance (weight,
gravity, opponent, etc.)
Levers
 The relationship of the points determines the
type of lever
 The axis (joint), force (muscle insertion point),
and the resistance (weight, etc.)
First Class

F R

F A R
First Class
First Class

 Neck extension
 Erector spinae
and Splenius
A

F
First Class
First Class

 Elbow extension
 Triceps

R
First Class
 Designed for speed and range of motion when
the axis is closer to the force
 Designed for strength when the axis is closer to
the resistance

F R

A A
Second Class

R F

A R F
Second Class
Second Class

 Plantar flexion
 Gastrocnemius and
Soleus

A
Second Class
Second Class

 Designed more for force

Third Class

F R

A F R
Third Class
Third Class

 Elbow flexion
 Biceps brachii and
Brachialis

R
Third Class
Table 3.1
FUNCTIONAL RELATIONSHIP PRACTICAL HUMAN
CLASS ARRANGEMENT ARM MOVEMENT DESIGN TO AXIS EXAMPLE EXAMPLE

1ST F-A-R Resistance arm Balanced Axis near Seesaw Erector

and force arm movements middle spinae neck
in opposite extension
direction
Speed and Axis near Scissors Triceps
range of force
motion
Force Axis near Crow bar
(Strength) resistance

2ND A-R-F Resistance arm Force Axis near Wheel Gatroc and
and force arm (Strength) resistance barrow, soleus
in same nutcracker
direction

3RD A-F-R Resistance arm Speed and Axis near Shoveling Biceps
and force arm range of force dirt, catapult brachii
in same motion
direction
Factors In Use of Anatomical Levers

 A lever system can be balanced if the F and FA

equal the R and RA

F
Balanced

Force Arm Resistance Arm

F

A
Balance with More Force

Force Arm Resistance Arm

F

A
Balanced with Less Force

Force Arm Resistance Arm

R
F

A
Factors In Use of Anatomical Levers

 A lever system can become unbalance when

enough torque is produced
 Torque is the turning effect of a force; inside the
body it caused rotation around a joint.
 Torque = Force (from the muscle) x Force Arm
(distance from muscle insertion from the joint)
Practical Application

 Force is produced by the

muscle
FA the distance from joint

Resistance
 Force

(i.e. axis or folcrum) to

insertion of the force
 Resistance could be a
weight, gravity, etc.
 RA the distance from joint
to the center of the
resistance
 Examples

1. How much torque needs to

be produced to move 45 kg
when the RA is 0.25 m and
the FA is 0.1 meters?

Resistance
 Use the formula F x FA = R x
Force

RA
 Note: A Newton is the unit of force
required to accelerate a mass of
one kilogram one meter per second
per second.
Example 1

 F x 0.1 meters = 45 Kg x 0.25 meters

 F x 0.1 kg = 11.25 Kg-meters
 F = 112.5 Kg

RA = 0.25
FA = 0.1
?

45

A
 Example 2: Increasing the FA

2. What if the FA was increased to 0.15 meters?

 F x 0.15 meters = 45 Kg x 0.25 meters

 F x 0.15 = 11.25 Kg-meters

 F = 75 Kg

RA = 0.25
FA = 0.15
?

45

A
 Example 3: Decreasing the RA

3. What if the RA was decreased to 0.2 meters?

 F x 0.1 meters = 45 Kg x 0.2 meters

 F x 0.1 = 9 Kg-meters

 F = 90 Kg

RA = 0.2
FA = 0.1
?

45

A
Summary
 The actual torque needed to move a given
resistance depends on the length of the FA and
RA
 As the FA increases or RA decreases, the
required torque decreases.
 As the FA decreases or RA increases, the
required torque increases.
Levers Continued
 Inside the body, several joints can be “added”
together to increase leverage (e.g. shoulder,
elbow, and wrist.
 An increase in leverage can increase velocity
Lever Length

 Where is the velocity or speed the greatest; at S’ or

Z’?

S Z
 How can this principle be applied to tennis?
Lever Length

 A longer lever would

increase speed at the
end of the racquet
unless the extra weight
was too great. Then the
speed may actually be
slower.
Wheels and Axles

 Wheels and axles can enhance

speed and range of motion
R = 3”
 They function as a form of
lever
 Mechanical advantage =
radius of wheel / radius of
axle

R = 1”
Wheels and Axles

 Consider the humerus as an

axle and the forearm/hand
as the wheel
 The rotator cuff muscles
inward rotate the humerus
a small amount
 The hand will travel a large
amount
 A little effort to rotate the
humerus, results in a
significant amount of
movement at the hand