Das Buch ist in erster Linie als Lehrbuch für die universitäre sportwissenschaftliche Ausbildung gedacht und richtet sich an diejenigen, die an biomechanischen Forschungen zur menschlichen Bewegung Interesse haben. Deshalb soll es dazu beitragen, die grundlegenden biomechanischen Konzepte besser zu verstehen und nicht die benutzten mathematischen Probleme im Detail erklären. Dabei versucht das Lehrbuch, dem Dualismus zwischen mechanischen Modellen und biologischen Experimenten gerecht zu werden, der der Wissenschaft Biomechanik zugrunde liegt. In den ersten beiden Kapiteln werden Fragen der kinematischen Geometrie der menschlichen Bewegung , d.h. der Position des menschlichen Körpers und seiner Positionsveränderung ohne Berücksichtigung von Zeit, Geschwindigkeit und Beschleunigung abgehandelt. Im Kapitel 1 wird die kinematische Geometrie eines einzelnen Körpers (Rotationsmatrizen, Euler's Winkel, Schraubenmethode, homogene Transformationsmatrizen) beschrieben. Der Einsatz dieser Methoden wird durch das Objekt klassischer biomechanischer Forschungen bescrieben, der Augenbewegung. Im kapitel 2 werden die menschliche Gelenkkonfiguration und die kinematischen Ketten beschrieben. Dieses Kapitel gründet sich auf Konzepte, die durch die Biomechanik selbst entwickelt wurden (z. B. Gelenkkonfigurationskonvention) wie auch auf Methoden, die für den Robotereinsatz entwickelt wurden und die dann von den Biomechanikern geliehen wurden ( z. B. Denavit-Hartenberg Konvention). Das 3. Kapitel befaßt sich primär mit der Geschwindigkeit und Beschleunigung biokinematischer Ketten (insbesondere dreidimensionale Bewegungen von Ketten mit vielen Verbindungen). In diesen ersten drei Kapiteln wird die Gelenkbewegung nur als Rotation betrachtet. Diese Annahme wird in den zwei folgenden Kapiteln nicht mehr genutzt, die menschliche Gelenkbewegung wird in ihrer tatsächlichen Komplexität betrachtet. Dabei befaßt sich Kapitel 4 mit der Theorie der Gelenkkinematik insgesamt, und das 5. Kapitel mit der Kinematik des einzelnen Gelenks. AUDIENCES Textbook for graduate or upper undergraduate courses in biomechanics. Reference text for biomechanists, sports biomechanists, motor behavior specialists, ergonomists, orthopedic surgeons, neuroscience specialists, physical therapists, and rehabilitation specialists. DESCRIPTION This book is the first major text on the kinematics of human motion and is written by one of the world's leading authorities on the subject. The book begins with careful descriptions of how to study human body position and displacement without regard to time, velocity, or acceleration. Then Dr. Zatsiorsky examines differential kinematics of human motion by "adding" the variables of velocity and acceleration in simple and complex biokinematic chains and by adding the variable of three-dimensional movement to the study of multilink chains. The book includes the three-dimensional analysis of 26 specific human joints, from the temporomandibular joint to the joints of the midfoot. While the book is advanced and assumes a knowledge of calculus and matrix algebra, the emphasis is on explaining movement concepts, not mathematical formulae. The text features 23 refreshers of the basic concepts and many practical examples. The book is well illustrated and clearly written as the author skillfully integrates mechanical models with biological experiments. The foremost biomechanist of the former Soviet Union, and a professor at The Pennsylvania State University since 1991, Vladimir Zatsiorsky shares his 35 years of research and teaching in biomechanics in what may well be the most important biomechanics book of the 1990s. CONTENTS Preface Acknowledgments Notations and Conventions Chapter 1. Kinematic Geometry of Human Motion: Body Position and Displacement 1.1 Defining body location 1.1.1 The coordinate method 1.1.2 Cartesian versus oblique coordinates 1.2 Defining body orientation 1.2.1 Fixation of a local system with a rigid body 1.2.2 Fixation of a somatic system with a human body 1.2.3 Indirect method of defining body orientation 1.2.4 What is "body rotation"? 1.2.5 Describing position and displacement 1.2.6 Advantages and disadvantages of the various angular conventions 1.2.7 Determining body position from experimental recordings 1.3 Three-dimensional representation of human movement: Eye movement 1.3.1 Eye orientation 1.3.2 Motions actually made by the human eye (Donders' law and Listing's law) 1.3.3 Rotation surfaces. The laws obeyed by the pointing head and arm movements 1.4 Summary 1.5 Questions for Review 1.6 Bibliography Chapter 2. Kinematic Geometry of Human Motion: Body Posture 2.1 Joint configuration 2.1.1 Technical and somatic systems 2.1.2 The clinical reference system 2.1.3 Globographic representation 2.1.4 Segment coordinate systems 2.1.5 Joint rotation convention 2.2 Kinematic chains 2.2.1 Degrees of freedom. Mobility of kinematic chains 2.2.2 Open kinematic chains: The end-effector mobility 2.2.3 Kinematics models and mobility of the human body 2.2.4 Constraints on human movements 2.2.5 Position analysis of kinematic chains 2.3 Biological solutions to kinematic problems 2.3.1 Internal representation of the immediate extrapersonal space 2.3.2 Internal representation of the body posture 2.4 Summary 2.5 Questions for Review 2.6 Bibliography Chapter 3. Differential Kinematics of Human Movement 3.1 Velocity of a kinematic chain 3.1.1 Planar movement 3.1.2 Motion in three dimensions 3.2 Acceleration of a kinematic chain 3.2.1 Acceleration of a planar two-link chain 3.2.2 Acceleration of a two-link chain in three dimensions 3.2.3 Acceleration of a multi-link chain 3.2.4 Jerk and snap 3.3 Biological solutions to the problems of differential kinematics: Control of movement velocity 3.3.1 Control of approach: The tau hypothesis 3.3.2 Control of velocity in reaching movement 3.4 Summary 3.5 Questions for Review 3.6 Bibliography Chapter 4. Joint Geometry and Joint Kinematics 4.1 Intrajoint kinematics 4.1.1 Articular surfaces and types of joints 4.1.2 Movement of articular surfaces 4.1.3 Geometry and algebra of intra-articular motion 4.1.4 Ligaments and joint motion: A joint as a mechanical linkage 4.2 Centers and axes of rotation 4.2.1 Planar joint movement 4.2.2 Three-dimensional joint movement 4.3 Summary 4.4 Questions for Review 4.5 Bibliography Chapter 5. Kinematics of Individual Joints 5.1 Nominal joint axes 5.2 The joints of the foot 5.2.1 Metatarsophalangeal joints. The foot as a two-speed construction 5.2.2 The joints of the midfoot 5.3 The ankle joint complex 5.3.1 The talocrural joint 5.3.2 The subtalar joint 5.4 The knee 5.4.1 The tibiofemoral joint 5.4.2 The patellofemoral joint 5.5 The hip joint and the pelvic girdle 5.6 The spine 5.6.1 Movement in synarthroses 5.6.2 The lumbar and thoracic spine 5.6.3 The cervical region: Head and neck movement 5.6.4 The rib cage 5.7 The shoulder complex 5.7.1 Individual joints 5.7.2 Movement of the shoulder complex: The scapulohumeral rhythm 5.8 The elbow complex 5.8.1 Flexion and extension 5.8.2 Supination and pronation 5.9 The wrist 5.10 The joints of the hand 5.10.1 The joints of the thumb 5.10.2 The joints of the fingers 5.11 The temporomandibular joint 5.12 Summary 5.13 Questions for Review 5.14 Bibliography Glossary Index
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