SCIENTIFIC BULLETIN OF

THE POLITEHNICA UNIVERSITY OF TIMISOARA, ROMANIA

Transactions on MECHANICS
BULETINUL TIINIFIC AL
UNIVERSITAII POLITEHNICA DIN TIMIOARA, ROMANIA
SERIA MECANICA
Tom 53 (67) ISSN 1224 - 6077 Fasc. S1, MTM 2008

COMPUTATIONAL HUMAN KNEE JOINT MODEL FOR

DETERMINING SLIDING-ROLLING PROPERTIES
B. M. Csizmadia1 , G. Fekete2
Szent Istvn University Faculty of Mechanical Engineering, Institute of Mechanics and Machinery, Department of
Mechanics and Engineering Design, Bv. Gusztv Fekete nr.2, 2100 Gdll, +36 28 522 000 ext. 1428, +70-405-2082
Csizmadia.Bela@gek.szie.hu, Fekete.Gusztav@gek.szie.hu

of wear with his two-dimensional patello-femoral joint model

       
                             

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( The third important effect on the connecting

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surfaces is the acting forces. Koehle and Hull [6] used in their
    
         
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research a commonly applied software program, called SIMM,

  
       


    
   
       
  

which includes a complete musculoskeletal model of the lower


 
   

     
        
        

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limbs, allowing the reaction forces of the knee to be computed

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( . They called their model a physiological model.

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Keywords    

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Figure 1.: J. Heegaard model [4]

1. Introduction

The aim of the Biomechanics Team of Szent Istvn

University is to reach a deeper understanding of the
human knee joint, by carrying out both experimental and
theoretical investigations. The different tasks being
explored are the determination of the axis of revolution
[1], the global determination of the acting forces or the
local motions [2]. The team has already carried out
significant work in this area, and also has presented
experimental results [3]. Besides this we have been Figure 2.: F. Jourdan model [5]
working on different numerical models taking into
consideration the already presented models in the
references. Heegaard [4] mostly investigated the stress and
strain relation and the kinematics and dynamics of the patella,
under the parameters of flexion. The above-mentioned model
was investigated by the Finite Element method wherein the
non-linear elastic material laws were taken into account

    * 

( ). Besides the examination of the local motions,

)

another important question is the wear of the contact surfaces.

Among others, Franck Jourdan [5] dealt with the phenomenon Figure 3.: Koelhe&Hull model [6]

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The original SIMM 2D lower limb model was developed by
Delp [7]. The knee model included a tibio-femoral and a
patello-tibial joint. No patellar ligament was modeled, but an
articulation was defined between the patella and the tibia by
the SIMM program. Since the knee joint is defined this way,
the force generated by the quadriceps is transmitted to the tibia,
via a patello-tibial joint reaction force and moment, instead of
by way of the patellar ligament. According to this effect, the
physiologic knee joint reaction forces substantially differs
from the results given by the SIMM. In this way, the authors
revealed the weaknesses of the SIMM program, and suggested
further modifications, even though the SIMM is considered to
be a worldwide, known program and applied in many projects.
2. AIMS
x The top of the femur is attached to the hip-bone,
thus deflection in the x direction is not possible
(MOTION JOINT)
x Bodies are attached to each other by springs
(SPRING), therefore the muscle model is
introduced
x The tibia is attached to the environment by a
hinge, thus the rotation around the z axis is
permitted (HINGE)
x The static friction coefficient is 0.11, while
according to Wang [8] the dynamic friction
coefficient is 0.008
One force in the y direction is acting on the femur with a
magnitude of 60 N.

The authors [6] only calculated the knee joint reaction forces
in certain angles, and no reports were presented about the
distribution of the forces or the properties of the sliding and
rolling features of the connecting surfaces. The distribution of
the forces along the connecting surfaces has been already
published [2] in a case of bending a computational knee in
flexion. Thus in this paper the main objective is to present a
newly developed method to investigate the local motions of
the tibio-femoral connection, which are based on sliding and
rolling features in the case of squatting.

3. The model

Two kinds of motions occur inside of the human knee

joint during action, which are sliding and rolling. Their
gradient and proportion is currently unknown. Zuppinger
was the first among the medical researchers who claimed
according to X-ray images that the relation between the
tibia and femur was basically rolling until 20 of flexion
and beyond that point, sliding and rolling jointly occurred.
Making a decision about the proportion of movements and
the behavior of the phenomena by using only X-ray
images is simply impossible. The MSC.ADAMS program
system was developed in order to carry out a real
examination of a computational knee model. The
geometrical model was mapped from MR images and
used basic CAD methods to generate and import into the

    .

ADAMS ( .).
)

The following simplifications were applied:

x 2.5D model (it involves a third finite extent)
x Bones are considered to be rigid bodies
x The damping and mechanical properties of the
meniscuses are neglected but their lubricating
behavior is taken into consideration
In order to carry out squatting motion, kinematic
constraints must be set to the model elements. The
elements such as the femur, tibia and patella must be fixed
to each other and to the environment. The following
constraints and boundary conditions were applied in the
program:
x Tibia, femur and patella can only perform planar
motion (PLANAR JOINT) Figure 4. The geometrical model

306
4. The method Thus the instantaneous velocity of the connecting points
of the bodies can be calculated in the  coordinate
D

The following kinematic quantities can be calculated by system. If the instantaneous tangent unit vector of the
the MSC.ADAMS during the simulation of the motion: connecting curvature can be determined: H

x ( ) vector-scalar function, which determines  ()

/ H
E

0 1

() G

(4) E

 ()
E

the instantaneous position of the connecting

    2
F

points of the two bodies ( .)

)

Then by multiplying the velocity vectors with it, the

x 2 ( ), 3 ( ), 2 ( ), 3 ( ) , Z 2 ( ) , Z3 ( )
 3   3  3  3  

sliding components of the velocities become quantifiable:

4 4

H H H H

vector-scalar functions, which sequentially I I

( ) , and
E

I I

()
E

(5)
2 2 3 3
J J

determine the instantaneous position of the

center of gravity, velocity and angular velocity of By these results the sliding components can be calculated:
the 2nd and 3rd bodies (

    2

.)
)

In addition the following kinematic quantities can be ' I

J
I

3
J

 I

2
J
(6)
directly estimated:
After the execution of the ADAMS program, the
x Instantaneous values of
7 7

and , which are 6 8

following numerical results were produced K

)

    L  , 

    M  ,

The proportion of the Ff/Fn function can be

)

the normal and frictional components of the K

connecting surfaces directly plotted.

h

() Z2( )
[ [

2
g

2 () f

2
c j

() a

()
[

` ]

3
c j

()
a

()
[

3
e

3 () d

2
c

() a

b c

() Z3( )
[
Figure 7.
3 a
R

Q
Figure 5.

U2 ( )
Z2( )
_

2
V

()
T

()
K
X Y

3 W

()
[

\ ]

U3 ( )
Figure 8.
Z3( ) T

[
Figure 7. demonstrates that the sliding velocity
R

components turn to be zero at approximately 26, and by

examining Figure 8. it shows the peak of the Ff/Fn
Figure 6. function is also around 26. That is the threshold where
the first sliding occurs, and from that point until cca. 45,
In order to examine the proportion of sliding and rolling, the actions of sliding and rolling are combined. After 45,
let us consider the following well-known formula [9] from the motion is characterized as pure sliding.
the results given by the ADAMS: In order to examine the proportion of sliding and rolling,
let a new [  K coordinate system be defined, which is
( ) (1)
; < <

: :

() : :

()
2 2
rigidly fixed to the 3rd body, which is the transportation
= =

9 9 9

Substituting the results of (1) equation into the (2) and (3): system. Let the previous  coordinate system
D

defined as an absolute system. According to the well-

@ B @ A

 Z2 u ? A B

() (2)
2 2 2 >

known formula [9]:

@

3
B @

3
A

 Z3 u ?

3
A B

() >
(3)  I

(7) P
I

O
I

307
 | |

x : Absolute velocity, which equal with ' '

F (17)
I I

2 2 |

the connecting velocity of the 2 body, H

nd
| | |
' 2
x x

3
: Transportation velocity, which equal
N
I

' 2 2  2
: Difference of the ith arc length

with the connecting velocity of the 3 body. rd

extracted the initiative K arc length of the 2nd
body,
| | |

It follows, H H

'3 3  3
: Difference of the ith arc length

O
I

2  I

3
(8) extracted the initiative K arc length of the 3rd
body.
In the same way, the angular velocities can be derived
The above-mentioned quantity shows the proportion of
analogously by both of the systems:
the connecting arc lengths in percentages, thus exact
Z P Z Z O
N (9) conclusions can be drawn to the sliding and rolling feature
of the motion. If the value of equals to 1, then it is pure
where Z P Z2 , Z N

Z3 , and Z O Z 2  Z3 . sliding, and if it equals to 0, then it is pure rolling.

Since,
M2
k

Application on a simple model

Z m
k l (10)
Let a cylinder be considered with R is the radius and e
Both of the bodies will have different rotations, thus a equals eccentricity ( ). A cylindrical tactile is
different M will belong to them. The M rotation can be

connected to the cylinder with r radius. The tactile can

determined between two arbitrary moments: only carry out motion that is planar, without rotation. The
p

cylinder revolves with a constant angular velocity =

M 2  M 20 Z n o (11) const. During the revolving motion the component points
of the tactile connect to different points of the cylinder.
p q

0
p

Although the tactile does not revolve in the absolute

M 3  M 30
p
Z 3
n o (12)
coordinate system, it carries out a relative revolution. This
0
application from classical mechanics will present the real
The mathematical curvature can be defined U 2 ( ) 2( ) r
s

proportion to the motions of sliding and rolling. First of

as well as U 3 ( ) 3( )
functions related to the Figure 6. A r
s

r
all the arc lengths of the cylinder and tactile must be
scalar function in any arbitrary t will be the v

u
determined. Considering the motion from the cc  cc

curvature if it is equaled to the reciprocal of the radius of coordinate system, as an absolute system, the arc length of
the curvature of any element of the [10]. w t
the tactile will be:
1 |

U () (13) M ( )
x

(12)
y

( )
x

The radius of the curvature is:

3

cc

(1  ( )c )
()
[

2 2
y

z

0

( ) (14) y

( )cc Z1 ( ) 0
y

Let us suppose that we posses the curvature functions of

cc
both bodies, thus the radiuses of curvatures as well. This
way, with the use of earlier determined M rotations the

arc lengths can be defined:

D( )

{ | { } {

2 ( ) M2 2 ( ) Z , as well as
y y y

{ |
2 { } {

3 ( ) M3 3 ( ) Z (15)
y y y

M( ) c

Then with simple integration, the arc lengths are

Z0( )
[

\( )

estimated:
~ ~

| { } {

2 ( ) M2 2 ( ) Z , respectively
y y y

2
~ ~

0 0
~ ~

9.

| { {

( ) M3 ( ) Z (16)
y y y

3 3 3 3
~ ~

0 0
From this perspective the cylinder revolves around the
At the end, let a new specific value be introduced, which immobile tactile. If the cylinder would not be eccentric
shall be titled as , and denoted  t t w

then its arc length was determined as:

with F . Let F defined as: |

M ( ) (12)
y

308
Though the effect of tappet will modify the motion of motion. The method will be expanded with biomechanical
cylinder with a angle, by taking into account the investigations in the case of the sliding and rolling
influence of tappet, the arc length will be modified as proportions of the condyles. The goal with this method is
follows: partly to find the dominant segment of the 3D surface,
which takes up the majority portion during motion, and
M ( )  '\ ( ) 
|

(20)
y y

partly to investigate these quantities on several human

Relation can be expressed between the two angles by subjects. In this way, by averaging the given results,
defining the deflection in the x direction: hopefully we will be able to draw a general conclusion.
For this part of the project statistical methods will be
cos\ ( )    
y y
By simple algebraic simplification the solution can be
obtained between the two angles:
 cos\ ( )
cos M ( )
(  )
With these formulas the demanded calculation can be
carried out and the arc length can be determined. By the
calculation of the sliding-rolling coefficient function, the
following figure can be presented ( ).
Figure 10.
5. Conclusions
Figures 8. and 9. indicate that pure rolling, joint sliding
and rolling and pure sliding phenomena can be observed
and punctually divided from each other. The new velocity
method showed correlates with the Ff/Fn diagram, but has
its limits since the curvature of the connecting points must
be tangential to the connecting surfaces.
More significant results can be observed in Figure 10.
which shows while in the 0 position the tactile is on the
top of the cylinder, then slowly starts moving down onto
it. The value of starts from 1, and then slowly decreases
and the interpretation is the behavior of rolling. In the
beginning the motion is characterized as pure sliding, then
slowly the rolling appears. At 90 is it easy to see that the
percentage of rolling is approximately 6%, while the rest
of the motion is still sliding.
6. Results, further applications
The presented method provides a new way to investigate
the phenomena of sliding and rolling in the case of planar
Scientific reviewers: Prof.dr.ing. Inoceniu Maniu U. P.T.
Conf.dr.ing. Iosif Crba U. P.T.
M ( ) (21)
applied on the set of data in order to determine the
sliding-rolling proportions in the case of the human knee
References:
1 Istvn Br Bla M. Csizmadia Gbor Katona:
(22)
Determination of instantaneous axis of rotation of tibia and its
role in the kinematical investigation of human knee joint,
Proceedings of the Third Hungarian Conference on
Biomechanics, Budapest, July 4-5, 2008, p. 55-62, ISBN 978
963 06 4307 8
2 G. Fekete.: Numerical methods for determining local motions
of human knee joint, ZTS Conference, Temesvr, 2008.
3 M. Csizmadia B. Katona G: Some result on the motion
analysis executed on the experimental model of the human knee.
23rd Danubia Adria Symposium on Experimental Methods in
Solid Mechanics Extended abstracts, Podbansk Zilina,
Slovak Republic, 2006.11.26-27.
4 J. Heegaard. P.F. Leyvraz. A. Curnier. L. Rakotomanana.
R. Huiskes: The biomechanics of the human patella during
passive knee flexion. Journal of Biomechanics 28, (1995), 1265-
1279 pp.
5 F. Jourdan: Numerical wear modeling in dynamics and large
strains. Wear 261, (2006), 283-284 pp.
6 M.J.Koelhe. M.L.Hull: A method calculating physiologically
relevant joint reaction forces during forward dynamic
simulations of movement from an existing knee model. Journal
of Biomechanics, 2007, (Under press).
7 A.S.Arnold. S.L.Delp: Rotational moment arm of the medial
hamstrings and adductors vary with femoral geometry and limbs
position: Implications for the treatment of internally rotated gait.
Journal of Biomechanics 34, (2001), 437-444 pp.
8 A. Wang: A unified theory of wear for ultra-high molecular
weight polyethylene in multi-directional sliding, Wear 248,
(2001), 38-47 pp.
9 M. Csizmadia B. Ndori E.: Mozgstan. Nemzeti
Tanknyvkiad. Budapest, 1997.
10 Rejt M. Pach. Zs. Pln. Rvsz P.: Matematika.
Mezgazdasgi Kiad, Budapest. 1972.
Rezumat Model computational al articulatiei de
genunchi pentru determinarea proprietilor de
alunecare rostogolire
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