Design and Demonstration of a New Instrumented Spatial Linkage for Use in a Dynamic Environment: Application to Measurement of Ankle Rotations During Snowboarding

Joint injuries during sporting activities might be reduced by understanding the extent of the dynamic motion of joints prone to injury during maneuvers performed in the field. Because instrumented spatial linkages (ISLs) have been widely used to measure joint motion, it would be useful to extend the functionality of an ISL to measure joint motion in a dynamic environment. The objectives of the work reported by this paper were to (i) design and construct an ISL that will measure dynamic joint motion in a field environment, (ii) calibrate the ISL and quantify its static measurement error, (iii) quantify dynamic measurement error due to external acceleration, and (iv) measure ankle joint complex rotation during snowboarding maneuvers performed on a snow slope. An “elbow-type” ISL was designed to measure ankle joint complex rotation throughout its range (⁠$±30deg$ for flexion/extension, $±15deg$ for internal/external rotation, and $±15deg$ for inversion/eversion). The ISL was calibrated with a custom six degree-of-freedom calibration device generally useful for calibrating ISLs, and static measurement errors of the ISL also were evaluated. Root-mean-squared errors (RMSEs) were $0.59deg$ for orientation (1.7% full scale) and $1.00mm$ for position (1.7% full scale). A custom dynamic fixture allowed external accelerations $(5g$⁠, $0-50Hz)$ to be applied to the ISL in each of three linear directions. Maximum measurement deviations due to external acceleration were $0.05deg$ in orientation and $0.10mm$ in position, which were negligible in comparison to the static errors. The full functionality of the ISL for measuring joint motion in a field environment was demonstrated by measuring rotations of the ankle joint complex during snowboarding maneuvers performed on a snow slope.