IOR Gait Full Body Model
This tutorial explains how to implement the IOR Full Body Model in Visual3D.
The IOR Full Body Model is a combination of the IOR Multi-Segment Trunk, and the IOR Lower Extremity Model.
The naming convention in this tutorial follows Serge Van Sint Jan's convention.
Downloads
Sample files may be downloaded here.
The zip file contains:
C3D files which you can use to follow along with the tutorial
A model template which contains the landmark & segment definitions
A script which contains the planar & joint angle definitions
A report template which plots the relevant kinematics (joint angles & planar angles)
A completed CMO file
Target Placement
LCAJ/RCAJ (LA/RA): Left/Right acromion
SJN (IJ): Deepest point of the incisura jugularis
SXS (PX): Xiphoid proces, i.e. most caudal point of the sternum
CV7 (C7): Spinous process of the seventh cervical vertebrae
TV2 (T2): Second thorcic vertibrae
TV7 (MAI): Midpoint between the inferior angles of the most caudal points of the two scapulae
LV1, LV3, LV5 (L1, L3, L5): First, third and fifth lumbar vertebrae
LIAS/RIAS (LASIS/RASIS): Left/Right anterior superior iliac spine
LIPS/RIPS (LPSIS/RPSIS): Left/Right posterior superior iliac spine
LFTC/RFTC (LGT/RGT): Most lateral prominence of the greater trochanter
LFLE/RFLE (LLE/RLE): Most medial prominence of the medial femoral epicondyle
LFME/RFME (LME/RME): Most medial prominence of the medial femoral epicondyle
LFAX/RFAX (LHF/RHF): Proximal tip of the head of the fibula
LTTC/RTTC (TT/RTT): Most anterior border of the tibial tuberosity
LFAL/RFAL (LLM/RLM): Lateral prominence of the lateral malleolus
LTAM/RTAM (LMM/RMM): Most medial prominence of the medial malleolus
LFCC/RFCC (LCA/RCA): Aspect of the achilles tendon insertion on the calcaneous
LFM1/RFM1 (LFM/RFM): Dorsal margin of the first metatarsal head
LFM2/RFM2 (LSM/RSM): Dorsal aspect of the second metatarsal head
LFM5/RFM5 (LVM/RVM): Dorsal margin of the fifth metatarsal head
Segment Definitions
Pelvis
The pelvis segment cooridinate system is consistent with the CODA pelvis,
from which the Left and Right Hip Joint centers are automatically created.
LIAS/RIAS (LASIS/RASIS): Left/Right anterior superior iliac spine
LIPS/RIPS (LPSIS/RPSIS): Left/Right posterior superior iliac spine
Pelvis Landmarks
1. Create SCRM:
Click Landmarks button
Click Add New Landmark button
Create Landmark:SCRM
Offset Using the Following ML/AP/AXIAL Offsets:
Check: Offset by Percent (1.0 = 100%)
Check: Calibration Only Landmark
Pelvis Definition
2. Create Pelvis Segment:
In the Segments tab, select Pelvis in the Segment Name box
In Segment Type, select CODA
Click on the Create Segment button
In the Pelvis dialog:
Clost CODA Segment Markers dialog box
Click on Build Model
Click on Close Tab before proceeding
3. Modify the Segment Coordinate System
Thorax Segment
This marker set is consistent with the Rizzoli Gait model and the ISB recommendations.
LCAJ/RCAJ (LAR/RA): Left/Right acromion
SJN (IJ): Deepest point of the incisura jugularis
SXS (PX): Xiphoid process, i.e. most caudal point of the sternum
C7V (C7): Spinous process of the seventh cervical vertebrae
TV2 (T2): Second thoracic vertebrae
TV7 (MAI): Midpoint between the inferior angles of the most caudal points of the two scapulae
Thorax Definition
4. Create Thorax/Ab:
In the Segments tab, select Thorax/Ab in the Segment Name box.
Click Kinematic Only
Click on the Create Segment button
In the Thorax/Ab tab, enter these values:
Define Proximal Joint and Radius
Lateral: None Joint: TV2 Medial: None
Radius 0.5*DISTANCE(RCAJ,LCAJ)
Define Distal Joint and Radius
Lateral: None Joint: TV7 Medial: None
Radius: 0.5*DISTANCE(RCAJ,LCAJ)
Extra Target to Define Orientation
Location: Anterior SXS
Select Tracking Targets:
SJN, SXS, TV2, TV7
Click on Build Model
Click on Close Tab before proceeding.
5. Modify the Segment Coordinate System
Thigh Segment
The RIGHT_HIP/LEFT_HIP landmarks are used to define the thigh segments. These landmarks are created automatically
when the Pelvis segment is defined (so the Pelvis must be defined prior to creating the thigh segments).
LFTC/RFTC (LGT/RGT): Most Lateral prominence of the greater trochanter
LFKE/RFLE (LLE/RLE): Most lateral prominence of the lateral femoral epicondyle
LFME/RFME (LME/RME): Most medial prominence of the medial femoral epicondyle
Thigh Definition
6. Create Right Thigh:
In the Segments tab, select Right Thigh in the Segment Name box
Click on the Create Segment button
In the Right Thigh tab, enter these values:
Define Proximal Joint and Radius
Lateral: None Joint RIGHT_HIP Medial: None
Radius: 0.5*DISTANCE(RIGHT_HIP,LEFT_HIP)
Define Distal Joint and Radius
Lateral: RFLE Joint: None Medial: RFME
Select Tracking Targets:
RIGHT_HIP,RFLE,RFME,RFTC
Click on Build Model
Click on Close Tab before proceeding
Shank Segment
The segment coordinate system is different from the conventional gait model because the shank
segment is designed according to markers located on the tibia and fibula, not the femur as with the Conventional Gait Model
LFAX/RFAX (LHF/RHF): Proximal tip of the head of the fibula
LTTC/RTTC (TT/RTT): Most anterior border of the tibial tuberosity
LFAL/RFAL (LLM/RLM): Lateral prominence of the lateral malleolus
LTAM/RTAM (LMM/RMM): Most medial prominence of the medial malleolus
Shank Landmarks
7. Create RKNE Joint Center:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RKNE
Offset Using the Following AXIAL Offset: 0.5
Check: Offset by Percent (1.0 = 100%)
Check: Calibration Only Landmark
8. Create RANK Joint Center:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RANK
Offset Using the Following AXIAL Offset: 0.5
Check: Offset by Percent (1.0 = 100%)
Check: Calibration Only Landmark
9. Create RTTC_PORJ:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RTTC_PROJ
Do Not Chck: Offset by Percent (1.0 = 100%)
Check: Calibration Only Landmark
10. Create RSK_PROX:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RSK_PROX
Do NOT Check: Offset by Percent (1.0 = 100%)
Check: Calibration Only Landmark
Shank Definition
11. Create Right Shank:
In the Segments tab, select Right Shank in the Segment Name box
Click on the Create Segment button
In the Right Shank tab, enter these values:
Define Proximal Joint and Radius
Lateral: None Joint: RSK_PROX Medial: None
Radius: 0.5*DISTANCE(RFLE,RFME)
Define Distal Joint and Radius
Lateral: RFAL Joint: None Medial: RTAM
Select Tracking Targets:
RFAL, RFAX, RTAM, RTTC
5. Modify the Segment Coordinate System:
The foot segment coordinate system is consistent with some version of the Conventional Gait Model.
The foot segment is created using the RANK/LANK landmarks which are described in the Shank Landmarks section
LFAL/RFAL (LLM/RLM): Lateral prominence of the lateral malleolus
LTAM/RTAM (LMM/RMM): Most medial prominence of the medial malleolus
LFCC/RFCC (LCA/RCA): Aspect of the achilles tendon insertion on the calcaneous
LFM1/RFM1 (LFM/RFM): Dorsal margin of the first metatarsal head
LFM2/RFM2 (LSM/RSM): Dorsal aspect of the second metatarsal head
LEFM5/RFM5 (LVM/RVM): Dorsal margin of the fifth metatarsal head
12. Create Right Foot:
In the Segments tab, select the Right Foot in the Segment Name box
Click on the Create Segment button
In the Right Foot tab, enter these values:
Define Proximal Joint and Radius
Lateral: None Joint: RANK Medial: None
Radius: 0.5*DISTANCE(RFAL,RTAM)
Define Distal Joint and Radius
Lateral: RFM5 Joint: None Medial: RFM1
Select Tracking Targets:
RFCC, RFM1, RFM2, RFM5
Click on the Build Model
Click on Close Tab before proceeding
13. Modify the Segment Coordinate System:
14. Create RFT_DIRT:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RFT_DIST
Do NOT Check: Offset by Percent (1.0 = 100%)
Check: Calibration Only Landmark
15. Create Right Virtual Foot:
In the Segments tab, type Right Virtual Foot int the Segment Name box
Check the Kinematic Only Check Box
Click on the Create Segment button
in the Right Virtual Foot tab, enter these values:
Define Proximal Joint and Radius
Lateral None Joint: RFCC Medial: None
Radius: 0.1
Define Distal Joint Radius
Lateral: RFM5 Joint:RFT_DIST Medial: None
Select Tracking Targets:
RFCC, RFM1, RFM2, RFM5
16. Modify the Segment Coordinate System:
Virtual Lab
Virtual Lab Landmarks
17. Create Lab_Origin:
Click Landmarks button
Click Add New Landmark button
Create Landmark: Lab_Origin
Offset Using the Following ML/AP/AXIAL Offsets:
Do NOT Check: Offset by Percent (1.0 = 100%)
Do NOT Check: Calibration Only Landmark
18. Create Lab_AX:
Click Landmarks button
Click Add New Landmark button
Create Landmark: Lab_Origin
Offset Using the Following ML/AP/AXIAL Offsets:
Do NOT Check: Offset by Percent (1.0 = 100%)
Do NOT Check: Calibration Only Landmark
19. Create Lab_ML:
Click Landmarks button
Click Add New Landmark button
Create Landmark: Lab_ML
Offset Using the Following ML/AP/AXIAL Offsets:
Do NOT Check: Offset by Percent (1.0 = 100%)
Do NOT Check: Calibration Only Landmark
20. Create Lab_ML:
Click Landmarks button
Click Add New Landmark button
Create Landmark: Lab_ML
Offset Using the Following ML/AP/AXIAL Offsets:
Do Not Check: Offset by Percent (1.0 = 100%)
Do NOT Check: Calibration Only Landmark
21. Create Pel_ML:
Click Landmarks button
Click Add New Landmark button
Create Landmark: Pel_ML
Offset Using the Following ML/AP/AXIAL Offsets:
Do NOT Check: Offset by Percent (1.0 = 100%)
Do NOT Check: Calibration Only Landmark
22. Create Pel_ML_Proj:
Click Landmarks button
Click Add New Landmark button
Create Landmark: Pel_ML_Proj
Landmark Name: Pel_ML_Proj
Define Orientation Using:
Starting Point: Lab_Origin
Ending Point: Lab_ML
Project Point: Pel_ML
Do NOT Check: Offset by Percent (1.0 = 100%)
Do NOT Check: Calibration Only Landmark
23. Create VLab_ML:
Click Landmarks button
Click Add New Landmark button
Create Landmark: VLab_ML
Landmark Name: VLab_ML
Define Orientation Using:
Starting Point: Lab_Origin
Ending Point: Lab_ML
Project Point: Pel_ML_Proj
Offset Using the Following ML/AP/AXIAL Offsets:
Do NOT Check: Offset by Percent (1.0 = 100%)
Do NOT Check: Calibration Only Landmark
Planar Angles
To calculate the orientation of the trunk segments, planar angles are calculated to determine the orientation
of the various segments relative to one another. To calculate a planar angle, you need to either reference the
ORIGINAL or PROCESSED folder when defining a target. If your targets have not been filtered or interpolated,
you will not have a processed folder and will need to use the ORIGINAL. However, if you plan to process your target
data in any way, you should do this now, prior to creating you planar angles.
The following abbreviations are used in naming the planar angles
FE Flexion/Extension
LB Lateral Bending
AR Axial Rotation
Spine FE & LB Landmarks
24. Create RPV_AX:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RPV_AX
Offset Using the Following ML\AP\AXIAL Offsets:
Do NOT Check: Offset by Percent (1.0 = 100%) (Meters when not checked)
Do NOT Check: Calibration Only Landmark (Not generated for assigned motion file(s))
FE Planar Angles
Below defines the orientation (flexion/extension) of the adjoining spine segments resolved in the pelvis coordinate system
NOTE: For the FE Planar Angles, the same definitions for the angles are used for both the left & right side. This
means the different sets of signals do not need to be created for the left and right sides (as with the LB and AR planar angles).
NOTE-2: To access these dialogs, you need to edit a command pipeline, the "Compute_Planar_Angle" pipeline command.
Spine FE Definitions
25. Create Sp5_sp4_FE Planar angle:
Define Resulting Signal Name: Sp5_Sp4_FE
Calculate a 4 point angle between the following targets:
TARGET::PROCESSED::TV7
TARGET::PROCESSED::TV2
TARGET::PROCESSED::CV7
TARGET::PROCESSED::TV2
Angle Direction: Left Hand Rule
3D Space: Always 0 to 180 degrees
Projected onto Plane: XY
Note: The Reference segment will need to be changed to RPV within the text option.
26. Create Sp4_Sp3_FE planar angle:
Define Resulting Signal Name: Sp4_Sp3_FE
Calculate a 4 point angle between the following
TARGET::PROCESSED::LV1
TARGET::PROCESSED::TV7
TARGET::PROCESSED::TV2
TARGET::PROCESSED::TV7
Angle Direction: Left Hand Rule
3D Space: Always 0 to 180 degrees
Projected onto Plane: XY
Note: The reference segment will need to be changed to RPV within the text option
27. Create Sp3_Sp2_FE planar angle:
Define Resulting Signal Name: Sp3_Sp2_FE
Calculate a 4 point angle between the following targets:
TARGET::PROCESSED::LV3
TARGET::PROCESSED::LV1
TARGET::PROCESSED::TV7
TARGET::PROCESSED::LV1
Angle Direction: Left Hand Rule
3D Space: Always 0 to 180 degrees
Projected onto Plane: XY
Note: The reference segment will need to be changed to RPV within the text option
28. Create Sp2_Sp1_FE planar angle:
Define Resulting Signal Name: Sp2_Sp1_FE
Calculate a 4 point angle between the following targets:
TARGET::PROCESSED::LV5
TARGET::PROCESSED::LV3
TARGET::PROCESSED::LV1
TARGET::PROCESSED::LV3
Angle Direction: Left Hand Rule
3D Space: Always 0 to 180 degrees
Projected onto Plane: XY
Note: The reference segment will need to changed to RPV within the text option.
29. Create Sp1_Pel_FE planar angle:
Define Resulting Signal Name: Sp2_Sp1_FE
Calculate a 4 point angle between the following targets:
LANDMARK::ORIGINAL::RPV_AX
TARGET::PROCESSED::LV5
TARGET::PROCESSED::LV3
TARGET::PROCESSED::LV5
Angle Direction: Left Hand Rule
3D Space: Always 0 to 180 degrees
Projected onto Plane: XY
Note: The reference segment will need to be changed to RPV within the text option.
Shoulder LB
Below defines the orientation of the line between the shoulder targets (LCAJ/RCAJ) relative to the trunk segment
Shoulder LB & AR Landmarks
30. Create RTA_OR:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RTA_OR
Offset Using the Following ML/AP/AXIAL Offsets:
Check: Offset by Percent (1.0 = 100%) (Meters when not checked)
Do NOT Check: Calibration Only Landmark (Not generated for assigned motion file(s))
31. Create RTA_ML:
Click Landmarks button
Click Add New Landmark button
Create Landmark: RTA_ML
Offset Using the Following ML/AP/AXIAL Offsets:
Check: Offset by Percent (1.0 = 100%) (Meters when not checked)
Do NOT Check: Calibration Only Landmark (Not generated for assigned motion file(s))
Shoulder LB & AR Definitions
32. Create RSh_Th_LB planar angle:
Define Resulting Signal Name: RSh_Th_LB
Calculate a 4 point angle between the following targets:
LANDMARK::ORIGINAL::RTA_ML
LANDMARK::ORIGINAL::RTA_OR
TARGET::PROCESSED::LCAJ
TARGET::PROCESSED::RCAJ
Angle Direction: Left Hand Rule
3D Space: Always 0 to 180 degrees
Projected onto Plan: YZ
NOTE: The reference segment will need to be changed to RTA within the text options.
33. Create LSh_Th_LB planar angle:
34. Create RSh_Th_AR planar angle:
Define Resulting Signal Name: RSh_Th_AR
Calculate a 4 point angle between the following targets:
TARGET::PROCESSED::RCAJ
TARGET::PROCESSED::LCAJ
LANDMARK::ORIGINAL::RTA_OR
LANDMARK::ORIGINAL::RTA_ML
Angle Direction: Left Hand Rule
3D Space: Always 0 to 180 degrees
Projected onto Plane: XZ
Note: The reference segment will need to be changed to RTA within the text option
35. Create LSh_Th_AR planar angle:
—-
Translation
Below defines the translation of the shoulder targets (LCAJ/RCAJ) in the trunk coordinate system
Shoulder Translation Definitions
36. Define RA_Tho_Transl:
Open the Compute Model Based dialog
Select TARGET_PATH from drop down list
37. Define LA_Tho_Transl:
Joint Angles
The Tho_Pel and Tho_Lab angles are described here, while the lower extremity joint angles were created based on the
segment coordinate systems described here
Joint Angle Definitions
38. Define the RTho_Pel_Angle:
Open the Compute Model Based dialog
Select JOINT_ANGLE from drop down list
Use Negative:
39. Define LTho_Pel_Angle:
40. Define the RTho_Lab_Angle:
Open the Compute Model Based dialog
Select JOINT_ANGLE from the drop down list
Use Negative:
41. Define LTho_Lab_Angle:
42. Define the RHip_Angle:
Open the Compute Model Based dialog
Select JOINT_ANGLE from drop down list
Use Negative:
X: FALSE Y: FALSE Z: FALSE
43. Define LHip_Angle:
44. Define the RKnee_Angle:
Open the Compute Model Based dialog
Select JOINT_ANGLE from drop down list
Use Negative:
45. Define LKnee_Angle:
46. Define the RKnee_Angle:
Open the Compute Model Based dialog
Select JOINT_ANGLE from drop down list
Use Negative:
47. Define LAnkle_Angle: