Dual Quaternion-Based Forward and Inverse Kinematics for Two-Dimensional Gait Analysis

Background: Gait kinematics address the analysis of joint angles and segment movements during walking. Although there is work in the literature to solve the problems of forward (FK) and inverse kinematics (IK), there are still problems related to the accuracy of the estimation of Cartesian and joint...

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Bibliographic Details
Published in:Journal of functional morphology and kinesiology Vol. 10; no. 3; p. 298
Main Authors: Vergara-Hernandez, Rodolfo, Gonzalez-Islas, Juan-Carlos, Dominguez-Ramirez, Omar-Arturo, Rueda-Soriano, Esteban, Serrano-Chavez, Ricardo
Format: Journal Article
Language:English
Published: Switzerland MDPI AG 01.08.2025
MDPI
Subjects:
Accuracy
Algorithms
Analysis
Artificial intelligence
Biomechanics
Datasets
dual quaternions
forward kinematics
Gait
gait analysis
inverse kinematics
Kinematics
Robots
sagittal plane
Walking
Mexico
Germany
inverse kinematics
sagittal plane
forward kinematics
gait analysis
dual quaternions
ISSN:2411-5142, 2411-5142
Online Access:Get full text
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Summary:Background: Gait kinematics address the analysis of joint angles and segment movements during walking. Although there is work in the literature to solve the problems of forward (FK) and inverse kinematics (IK), there are still problems related to the accuracy of the estimation of Cartesian and joint variables, singularities, and modeling complexity on gait analysis approaches. Objective: In this work, we propose a framework for two-dimensional gait analysis addressing the singularities in the estimation of the joint variables using quaternion-based kinematic modeling. Methods: To solve the forward and inverse kinematics problems we use the dual quaternions’ composition and Damped Least Square (DLS) Jacobian method, respectively. We assess the performance of the proposed methods with three gait patterns including normal, toe-walking, and heel-walking using the RMSE value in both Cartesian and joint spaces. Results: The main results demonstrate that the forward and inverse kinematics methods are capable of calculating the posture and the joint angles of the three-DoF kinematic chain representing a lower limb. Conclusions: This framework could be extended for modeling the full or partial human body as a kinematic chain with more degrees of freedom and multiple end-effectors. Finally, these methods are useful for both diagnostic disease and performance evaluation in clinical gait analysis environments.
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ISSN:2411-5142
2411-5142
DOI:10.3390/jfmk10030298