Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal
description
Transcript of Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal
![Page 1: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/1.jpg)
Decomposition of the Clubhead Velocity:Assessment of the Contributions of the Joint/Segment Motions in Golf Drives
Young-Hoo Kwon,Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal SinghalBiomechanics Laboratory, Texas Woman’s University, Denton, TX
6th World Scientific Congress of Golf, Phoenix, AZ
![Page 2: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/2.jpg)
2
Planar Double-Pendulum Model
X-Factor
(Cochran & Stobbs, 1968; Hume et al., 2005; Hellstrom, 2009)
Stretch-Shortening Cycle
Triple-pendulum model
![Page 3: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/3.jpg)
3
Planarity & Functional SP
R ElbowL Hand
R ShoulderL Shoulder
FSP
MDMF
FSP
Motion Planes
(Kwon et al., 2012)
![Page 4: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/4.jpg)
4
New Double-Pendulum Model
Hand Path Determined by: • Trunk motion &• Arm motions
Trunk Motion:• Flexion/extension• Lateral flexion• Rotation• Elevation/depression
Projected Hand
Projected ClubheadNew Hub
Arm Motions:• Shoulder motions• Elbow motions
![Page 5: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/5.jpg)
5
0 10 20 30 40 50 60 70 80 90 100
-200-100
0100200300400500
P: P/A TiltP: R/L TiltP: L/R RotT: R/L Lat FlT: L/R Rot
Normalized Time (%)
(deg
/s)
0 10 20 30 40 50 60 70 80 90 100
-300-200-100
0100200300400500
S: Fl/ExtS: Abd/AddS: E/I Rot
Normalized Time (%)
(deg
/s)
New Kinematic Sequence: Joint Angular Velocities
Meaningfulness of the trunk rotation and the X-factor?
![Page 6: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/6.jpg)
6
X-Factor Studies
Issues:• ANOVA/correlation/regression with heterogenous
samples• No direct relationship between CH velocity and X-
factor• Influence of the planar swing model / stretch-
shorting cycle• Projected to the horizontal plane
Trends:• Comparison among different skill levels (Cheetham et al.
2000; Zheng et al., 2007; Cole & Grimshaw, 2009)• Comparison among different ball velocity groups (Myers
et al., 2007)• Comparison among different effort levels (Meister et al.,
2011)• Correlation/regression (Myers et al., 2007; Chu et al.,
2010)• Training effects (Lephart et al., 2007)• Methodology (Joyce et al., 2010)
*p < 0.05
![Page 7: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/7.jpg)
7
Purposes
To assess the contributions of the joint/segment motions to the clubhead velocity:• Homogenous sample• Normalized CH velocity• Direct relationship between the CH velocity and
the trunk motion
To assess the relationship between the X-factor parameters and the CH velocity:• Projected to the functional swing plane• Homogenous sample• Normalized CH velocity
![Page 8: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/8.jpg)
8
Participants
18 Male Skilled Golfers:• Recruited from North Texas
(Dallas) area
• Handicap: -0.6 ± 2.1• Height: 1.81 ± 0.05 m• Mass: 82.6 ± 10.4 kg
Clubhead Velocity:• 45.48 ± 2.85 m/s (102.3 ± 6.4 mph; CV = 6.3%)• 25.21 ± 1.82 BH/s (CV = 7.2%)
![Page 9: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/9.jpg)
9
Data Collection
Motion Capture:• 10-camera VICON system (Centennial,
CO)• Captured at 250 Hz• ‘TWUGolfer’ marker set (65 markers)• 2 AMTI force plates (250 Hz)• 4 different types of trials (ball plate,
club, static posture, & motion trials) captured
Laboratory Study:• Wiffle balls• Ball mat• 5 driving trials per golfer
collected
![Page 10: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/10.jpg)
10
Data Processing
‘TWUGolfer’ Body Model:• 89 points• 13 joints / 24 computed points• 18 bodies / 6 additional reference
frames
Data Processing:• C3D importing• Kwon3D (Visol, Seoul, Korea)• Cutoff frequency: 20/10 Hz• Interpolated to 2,000 Hz
![Page 11: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/11.jpg)
11
Events
TB ED MD BI MFTop of BS Early DS Mid DS Ball Impact Mid FT
![Page 12: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/12.jpg)
12
Functional Swing Plane (FSP)
nro
ii
ij
ik
FSP (Kwon et al., 2012):• Plane formed by the clubhead
trajectory (MD to MF)• Projected trajectory
Moving FSP Reference Frame:• Instantaneous rotation centers
& arms• Normal, tangential, & radial axisX-Factor Computation:• Shoulder & hip lines• Projected to the FSP
frame
![Page 13: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/13.jpg)
13
1
2 3
45
A
BC
D
1v 1 2 21
3 31
4 41
5 51
6 61
71
7
F
v rrrrrr
v
Wrist (2 + 1 DOFs)Elbow (1)Shoulder Joint (3)Mid-Shoulder (1)L4/L5 (3)E
67F
Pelvis Rotation (3)Mid-Hip Translation
Decomposition of CH Velocity
1 2 3 4 5 6 7 ( )FSPFSP Gv T v v v v v v
Max contributionContribution at BIContribution
Time Function:
![Page 14: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/14.jpg)
14
Tangential Velocity Contribution
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
CHWristPr/SupSJTrunkPelvis
Normalized Time (%)
(BH
/s)
100%
ED: 67.0%MD: 86.9%BI: 100%
46.9%
16.8%19.2%
15.7%
18.5%
TB: 0%
(5) (12)(1)
![Page 15: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/15.jpg)
15
Velocity Contribution
CH Wrist Pr/Sup
Elbow SJ Trunk Pelvis MH-5
0
5
10
15
20
25
30
MaxChange
Joint/Segment
(BH
/s)
r = 0.724
r = 0.539r = 0.501
r = -0.475
(p < 0.05)vs. Max CH Velocity
(3)(1)
![Page 16: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/16.jpg)
16
X-Factor Parameters
0 10 20 30 40 50 60 70 80 90 100
-60-40-20
020406080
100120140
Hip LineShoulder LineX-Factor
Normalized Time (%)
(deg
)
![Page 17: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/17.jpg)
17
X-Factor Parameters
0 10 20 30 40 50 60 70 80 90 100
-60-40-20
020406080
100120140
Hip LineShoulder LineX-Factor
Normalized Time (%)
(deg
)
X-Factor Stretch
1.5 ± 2.2 deg
![Page 18: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/18.jpg)
18
X-Factor Parameters
X-Factor Hip Line Shoulder Line-150
-100
-50
0
50
100
150
MaxImpactChange
X-Factor Parameter
(deg
)
r = -0.486*
(*p < 0.05)vs. Max CH Velocity
r = -0.568*
r = -0.461*
CV = (15, 79, 18)%CV = (21, 25, 17)%CV = (10, 31, 11)%
![Page 19: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/19.jpg)
19
Discussion
Velocity Contribution:• Wrist motion: the main source of the
CH velocity• Pelvis motion: larger contributions than
the trunk motion• Wrist & pelvis contributions: correlated
to the max CH velocity• Trunk motion: no notable contribution /
correlation to the max CH velocity
Velocity Decomposition:• Decomposed velocities causal relationships• 3-D modeling studies needed: to establish the causal
relationship
![Page 20: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/20.jpg)
20
Discussion (cont.)
X-Factor:• Not the X-factor but the hip &
shoulder parameters were correlated to the max CH velocity.
• Direct relationship between max CH velocity and X-factor is questionable.
• Inter-group difference in X-factor may mean fundamental differences in swing style.
• The X-factor could be an indicator of the golfer’s skill level.
![Page 21: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/21.jpg)
21
Discussion (cont.)
Golf swing:• a planar motion around a hub (Cochran & Stobbs,
1968)• Planar perspective, X-factor, & SSC:
• Popular menus• Time to reassess their meaningfulness
• Trunk & arms: work together to achieve a planar CH motion in the delivery zone
• Future studies: trunk-arm coordination
![Page 22: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/22.jpg)
22
Conclusion
Velocity decomposition revealed that contribution of the trunk motion to the max CH velocity was minor.Not the X-factor, but the hip and shoulder line position/ROM showed significant correlations to the max CH velocity.The link between the X-factor/stretch-shortening cycle perspective and CH velocity generation is questionable.Future studies need to focus on hip and shoulder line position/ROM vs. downswing motion patterns.
![Page 23: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/23.jpg)
23
Thank you for
your attention!
![Page 24: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/24.jpg)
24
Trial Types
Ball Plate
Club
Static Posture Motion Trial Processed Motion Trial
![Page 25: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/25.jpg)
25
Kinematic Chain Analysis
1
2 3
45
A
BC
D
1v
1 1 2
2 3
3 4
4 5
5 6
6 7
7
v v vv vv vv vv vv vv
1 2 21
2 3 4 5 6 21
A
F
v v rr
E67F
CH Velocity:
Relative Velocity of CH to Wrist:
![Page 26: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/26.jpg)
26
1
2 3
45
A
BC
D
1v
E67F
1 2 3 4 5 6 21
3 4 5 6 32
4 5 6 43
5 6 54
6 65
76
7
F
F
F
F
F
F
v rr
rr
rr
v
2 21
3 32 21
4 43 32 21
5 54 43 32 21
6 65 54 43 32 21
76 65 54 43 32 21
7
F
rr rr r rr r r rr r r r rr r r r r r
v
1
2 3
45
A
BC
D
1v
E67F
Segment Perspective:
Joint Perspective:
![Page 27: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/27.jpg)
27
1
2 3
45
A
BC
D
1v 1 2 21
3 31
4 41
5 51
6 61
71
7
F
v rrrrrr
v
Wrist (2 + 1 DOFs)Elbow (1)Shoulder Joint (3)Mid-Shoulder (1)L4/L5 (3)E
67F
Pelvis Rotation (3)Mid-Hip Translation
Decomposition of CH Velocity
1 2 3 4 5 6 7 v v v v v v v Max contributionContribution at BIContribution1 2 3 4 5 6 7 dt dt dt dt dt dt dtv v v v v v v
Time Function:
![Page 28: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/28.jpg)
28
Normal Velocity Contribution
0 10 20 30 40 50 60 70 80 90 100
-10-8-6-4-202468
10
CHWristPr/SupSJPelvis
Normalized Time (%)
(BH
/s) Up
Down
![Page 29: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/29.jpg)
29
Radial Velocity Contribution
0 10 20 30 40 50 60 70 80 90 100
-2
-1.5
-1
-0.5
0
0.5
1
1.5
CHWristPr/SupSJTrunkPelvis
Normalized Time (%)
(BH
/s)
Away
Toward
![Page 30: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/30.jpg)
30
Golf Performance Factors
Goal:• Accuracy & consistency in
distance & direction• Maximization of the distance
Impact Conditions:• Motion of the clubhead (velocity)• Orientation of the clubface at impact• Location of impact on the clubface• Distance: function of the CH velocity
at impact
![Page 31: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/31.jpg)
31
Motion Planes
![Page 32: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/32.jpg)
32
X-Factor StudiesStudy Methods ResultsCheetham et al. (2000)
10 skilled9 less skilled ( 15)
Skilled > less skilled (max)
Zheng et al. (2007)
18 professional (0)18 low HC (3.22)18 mid HC (12.5)18 high HC (21.3)
Pro > high (TB)
Myers et al. (2007)
21 low ball velocity (15.1)65 medium ball velocity (7.8)14 high ball velocity (1.8)
Low, med. < high (TB)Low < med. < high (max)Correlation (TB, max)
Lephart et al. (2007)
15 golfers (12.1)8-week golf-specific training
Pre < Post (shoulder rotation, x-factor)
Cole & Grimshaw (2009)
7 low HC ( 10)8 high HC (12-18)
None
![Page 33: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/33.jpg)
33
X-Factor Studies (cont.)Study Methods ResultsChu et al. (2010)
266 males & 42 females (8.4) Multiple regression (TB)
Joyce et al. (2010)
Method studyOrientation angle approach
Comparison among rotation sequences
Meister et al. (2011)
10 professional (scratch or better)5 amateur (4, 15, 30, two novice) 3 effort levels (easy, medium, & hard)
Within subject correlation (professional; max, impact)
Issues:• Heterogenous samples• No direct relationship between CH velocity and X-
factor• Influence of the planar swing model / stretch-
shorting cycle• No normalization of the CH velocity to body size
![Page 34: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/34.jpg)
34
Maximum(BH/s)
At Impact(BH/s)
Change(BH/s)
Clubhead 25.21 ± 1.82 24.86 ± 1.85(r = 0.997*) -0.35 ± 0.15
Wrist 11.87 ± 2.08(r = 0.724*)
10.32 ± 2.16(r = 0.633*) -1.55 ± 1.05
Pr/Sup 4.17 ± 2.23 4.14 ± 2.24 -0.03 ± 0.08
Elbow 1.94 ± 1.10 0.75 ± 1.93 -1.19 ± 1.20(r = 0.501*)
SJ 4.82 ± 0.63 2.71 ± 2.24 -2.11 ± 2.14Trunk 3.95 ± 0.67 3.25 ± 1.30 -0.70 ± 0.88
Pelvis 4.67 ± 0.84(r = 0.539*) 3.97 ± 0.94 -0.70 ± 0.58
M Hip0.35 ± 0.15
(r = -0.402; p = 0.10)
-0.04 ± 0.15 -0.39 ± 0.23(r = -0.475*)
Correlation: vs. Max Clubhead Velocity
![Page 35: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/35.jpg)
35
TB-ED(BH)
TB-MD(BH)
TB-BI(BH)
Clubhead 0.75 ± 0.10 1.60 ± 0.13 2.41 ± 0.36Wrist 0.02 ± 0.09 0.34 ± 0.10 0.73 ± 0.17
SJ 0.12 ± 0.06 0.31 ± 0.08 0.41 ± 0.11Trunk 0.24 ± 0.06 0.36 ± 0.08 0.46 ± 0.08
Pelvis 0.28 ± 0.08(r = 0.544*)
0.47 ± 0.11(r = 0.420; p =
0.08)0.62 ± 0.14(r = 0.468*)
Correlation: vs. Max Clubhead Velocity
![Page 36: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/36.jpg)
36
X-Factor Parameters
Maximum(deg)
At BI(deg)
Change(deg)
X-Factor 58.2 ± 8.9 10.7 ± 8.5 -47.5 ± 8.5
Hip LineAngle 38.4 ± 7.9 -38.7 ± 9.8
(r = -0.486*)-77.1 ± 13.4
(r = -0.461; p = .05)
Shoulder Line
Angle
95.1 9.4(r = 0.415; p =
0.08)
-28.0 ± 8.8(r = -0.400; p =
0.10)-123.1 ± 13.0(r = -0.568*)
Correlation: vs. Max Clubhead Velocity (BH/s)
![Page 37: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/37.jpg)
37
Velocity Contribution
CH Wrist Pr/SupElbow SJ Trunk Pelvis M Hip-5
0
510
15
20
25
30
MaxImpactChange
Joint/Segment
(BH
/s)
r = 0.997*
r = 0.724*r = 0.633*
r = 0.539*r = 0.501*
r = -0.475*
(*p < 0.05)vs. Max CH Velocity
![Page 38: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/38.jpg)
38
Pelvis Max
Elbow Max
Wrist Max Pr/Sup Max
MH -0.471Pelvis -0.553 0.607Trunk -0.536El/Depr -0.476Elbow 0.503 -0.631
Inter-Joint/Segment Correlations (p < 0.05)
Pelvis Max
SJ Max Wrist Max Pr/Sup Max
MH Max 0.470El/Depr Max
0.497
Elbow Max
0.493
Wrist Max -0.674
![Page 39: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/39.jpg)
39
Accumulated Contribution
0 10 20 30 40 50 60 70 80 90 1000
0.5
1
1.5
2
2.5
3
CH
Wrist
SJ
Trunk
Pelvis
Normalized Time (%)
(BH
) 29.9%
17.1%
19.3%
25.6%
100%
![Page 40: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/40.jpg)
40
Trajectory Contribution
CH Wrist SJ Trunk Pelvis0
0.5
1
1.5
2
2.5
3
TB-EDTB-MDTB-BI
Joint/Segment
(BH
)
r = 0.544*
(*p < 0.05)
r = 0.468*
vs. Max CH Velocity
![Page 41: Young-Hoo Kwon, Chris Como, Ki Hoon Han, Sangwoo Lee, & Kunal Singhal](https://reader036.fdocuments.in/reader036/viewer/2022062323/56815dd2550346895dcbfbbd/html5/thumbnails/41.jpg)
41
0 10 20 30 40 50 60 70 80 90 100
-300-200-100
0100200300400500
P: P/A TiltP: R/L TiltP: L/R RotT: R/L Lat FlT: L/R RotS: Fl/ExtS: Abd/AddS: E/I RotE: Fl/Ext
Normalized Time (%)
(deg
/s)
0 10 20 30 40 50 60 70 80 90 100
-1500-1000-500
0500
100015002000
F: Sup/PrW: Fl/ExtW: R/U Dev
Normalized Time (%)
(deg
/s)