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SCURITY CLASSIFICATION CF THIS PAGE

Fcom AppovedREPORT DOCUMENTATION PAGE OMSNo.0704-01M

la. REPORT SECURITY CLASSIFICATION lb. RESTRICTIVE MARKINGSUnclassified

2a. SECURITY CLASSIFICATION AUTHORITY 3. DISTRIBUT!ON/AVAILABIUTY OF REPORT

Approved for public release;2b. DECLASSIFICATIONIDOWNGRADiNG SCHEDULE dpproved for iulimired." distrihut-lon is unlimited.

4. PERFORMING ORGAUIZATION REPORT NUMBER(S) S. MONITORING ORGANIZATION REPORT NUMBER(S)

AAHRL-TR-88-005

6a. NAME OF PERFORMING ORGANIZATION [6b OFFICE SYMBOL 7a NAME OF MON!TORING ORGANIZATIONHarry G. Armstrong Aerospace (If applkofIle)Medical Research Laboratory AAMRL/BBM

6c_ ADDRESS (City, State, and ZIP Code) 7b ADDRESS (City, State, and ZIP Code)

Wright-Patterson AFB OH 45433-6573

B. MAME OF FUNDING/SPONSORING Rb OFFICE' SYMBOL 9 PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER

ORGANIZATION (If applicable)

Ic. ADDRESS (City, State, and ZIP Code) 10 SOURCE OF FUNDING NUMBERSELEMENT NO NO NO ACCESSION NO

62202F 7231 20 I1311. TITLE (Mchxk Security Clasjfication)

Measurement of Hybrid III Dummy Properties and Analytical Simulation Data Base Development

12 PERSONAL AUTHOR(S)Ints Kaleps, Richard P. White, Jr., Robert M. Beecher. Jennifer hitestone o A- raf13a. TYPE OF REPORT 13b TIME COVERED 14 DATE OF REPORT (Year, Month Day) 15 PAGE COUNT

Summary FROM AuR 85 TO ,_7 February 12h 22316. SUPPLEMENTARY NOTATION

Effort partially funded by the National Higaway Traffic Safety Admlnistration.

17, COSATI CODES 18 SUBJECT TERMS (Continue on reverie if necessary and identify by block number)FIELD GROUP SUB.GROUP

11 I>Blodynamtcs., Mode11i g D:nmjie h. SimulIat ion -~051 ,Tntkm* on revert if necessary and identfy by block number)

The dimensional. inertial. surface compliance and joint range-of-motion and resistiveproperties of a standard and a pedestrian or Ltanding Hybrid IIL dummy were measured. Thedata were ave-aged. between the two dummies and their right and left-sides. to form one

representative data set for all body segments except the abdomen (lumbar upin e. pelvisand upper legs. These segments were distinctly different for the two dummies and-tkoseparate data sets were preperea for them. The data were further reduced to the spec . cinput format requirements for the Crash Victim Limulation (CVS) and Articulated Total Bo(ATB) model programs. A simulation of an automobile cras. event was performed todemonstrate the correctness of che data format and physical consistency of the input data.The report describes the measuring methodology. presents the raw measured data, discussesthe methods and assumptions used in the data reduction and reformatting to the CVS/ATBmodel input data requirements, presents re -ced data as well as the final simulation input

20 DISTRIBUTION /AVAILABILITY OF ABSTRACT 21 ABSTRACT SECUR)i ry CLASSIFICATIONRI"JCLASSIFIEDIUNLIMITEO 0 SAME AS RPT 0 DI( USERS Unclassified

22-" -.AME OF RESPONSILE INDIVI01AL 22b TELEPHOE (Include Arc'a Code) 22c OFFICE SYMBOLInts Kaleps (513) 2.,-366. I AAMRLI//813

DD Form 1473, JUN 86 Prevous editions ire ablolefi ,ECURITY CLASSIFiCATtON OF THIS PAGE

UIC1.ASS I FI ED

19. ABSTRACT (Contiued)

formatted data and shows graphical results from the demonstration simulations in whichresponses of the standard Hybrid MI. the standing Hybrid III and a Part 572 duiny,exposed to identical impact conditions. are compsrtd.

IPREPN2F

The york described herein was Derformed at the Harry G. Armstrong

Aerospace Medical Research Laboratory (AAMRL) and was supported by borl.

Ait Force and National Highway Trattic Satety AdMivirtration F'unding

(Interagency Agreement No. DTNH22-86-X-07477). The various tasks

necessary for the total program were performed in part by AAMRL. Systems

stesearch Laboratory. Inc. and University of Dayton Research Institute

personnel. Of the two Hybrid IIl dummies tested in this program the

standing dummy belonged to AAMRL and the seated dummy was provided by

General Motors.

'I,,

(Revibed 5/6/87)

TABiLE OF' COtNTYt4TS

LIST OF VIGUiS viiLIST OF TABLES xiii

1. ZNTRODUCTION

2. TECHNICAL DISCUSSION 4

2.1 Yhysigjg ,,surment of Manikin Proverties 4

2.1.1 Measurement of Manikin htornal Dimensions 4

2.1.1.1 Description of Messurment Procedure 42.1.1.2 Discussion of Results 8

2.1.2 Measurement of Manikin Sement Geometry and 10Axib System Dscriptions

2.1.2.1 Dcription of basic Measurement Techniques t02.1.2.2 Definition and Location of Landmarks and Axi& I;

Sy at vel2.1.2.3 Transformation of Data 4etve-n Axib Systems I

2.1.3 Measurement and Determinatiun of the Me s1I

P'ropertivs of the Manikin Semtents

2.1.3.1 Discussion of Measureoment Techniques and I,Equipment Utilized

2.1.3.1.1 $ement Mass 152.1.3.1.2 Segment Center of Gravity Location 172.1.3.1.3 Segment Inertia 20

2.1.3.2 Accuracy of Measurement Techniques 26

2.1.3.3 Fresentation and Discussion of Results 27

2.1.4 Measurement of Manikin Joint Physical Characteristics V)

2.1.4.1 Measuroment of Joint Re sistance Torque as a 33function of Joint Rotation Angle

2.1.4.14 Description of Joints and Test Set-Up 332.1.4.1.2 Initrusentation Utilized 342.1.4.1.3 Teats 36

2.1.4.1.3.1 Shoulder 362.1.4.1.3.2 Elbow 512.1#4.1.3.3 Wrist 612.1.4.1.3.4 Knee 71

v

S2.1.4.1.3.5 Ankle 75

2.1.4.1.3.6 Hip 75

2.1.4.2 Dutermination ot Joint Rainge of Motion 862.1.4.3 Deterumlnatlon of the Characteristics of the 86

Lumbar Vpine

2.1.4.3.1 Spins, of Standing Manikin 872.1.4.3.2 Spine of Seated Manikin 90

2.1.4.4 Doitertration of the Characteristics of the 99Hybrid III Nock

2.1.4.4.1 Static Test& 99

2.1.4.4.1.1 Test Procedure 992.1.4.4.1.2 Data Reduction Procedures and Pesults 99

2.1.4.4.2 Dya |c Tot6 107

2.1.4.4.2.1 Test Procedure 1072.1.4.4.2.2 Data Rviuction Procedures and Reaulto 109

2.1.4.4.3 Comparison of Static and Dynamic Test 109keaul ts

2.1.4.4.4 Neasuretwnt of the Nodding block Stiffness 110

2.1.5 Meauureawrt of the Compliance Characteristic& of 112Segment kin Coverings

2.1.5.1 D.scription of Equipment and Techniques Utilized 112to Fatablish Compliance of Skin Covering

2.1.5.2 Discussion of Results 113

2.1.5.3 Plotu of Skin Complianc& 116

2.1.6 Data Table# of Sement khyoical Characteristics lib

2.2 CV S/ Am Model 1WUs}QS3,

2.2.1 Conversion of Basic Data to ATO Vorimt 152

2.2.1.1 Segment Characteristics 1522.2.1.2 Joint Configurations 1362.2.1.3 Joint Rotation Resistive Torques 1602.2.1.4 Skin Compliance Characteristics 174

2,2.2 Demonstration Simulations 1872.2.3 Discussion of Rsults 187

3. KgfkZlNCS 189

APPKILIX CVS/ATM MODP. JNUT VILKS 190

,-"I

lUT UV VJI( KV

WlUJUId' PAUX

1 Hybrid III Utanding and Uativd Manikins 3

V. Hybrid III Exterior Body Dimensions - front View

3 Hybrid III Exterior Body Dimnsions - Side View 6

4 The Perceptor Shown with Manikin forearm in Test II

BoxU;gment Iflin~, $ox 17

l Toot Equipm nt Ui;od for UDtrLning Stgmont 18

Centvr of Gravity

Tout Uetup and Procvdurt for Dotvtnining Cogment 19

Center of Gtovity

b 'rceptot Measurement byriem 21

1) Gas Dryer and MPI Xnstrume'tatiot, '1

10 Inertlial Heaurement Lquilmert 22

11 Voreru Mourited on MPI Platform to Dewrrou 23

4t(,eirjt of Inertia

12 Yorebru Mountd in Jig on MPI Platform to /1

Dnteruaire Mkent of Inertia about an Oblique Angle

13 :;houldor Abdul-tiorAdduction Tear Setup

14.-- Uhouluvr Abduction-Adducttor at 00 Ilexion 4)

for Lt5.IJit% Manikin

15 Shoulder Abduct ion-Addut ts of U1' VIPxion ',1

for Bested Manikin

16 Shoulder Abductior-Adduction at 900 Floxion 42

Test Setup

17 Obvulder Aduction-Adductiu. at 900 flei.on 44

for Standing Manikin

1b Dhoulder Abduction-Adduction at 900 flexion 4

for Boted Manikin

19 Shoulder Flexion E-ttnsion at 00 Abduction 6

Test Setup

20 Shoulder VIleion-Extenion at 00 Abduction for 67

Standing Manikin

vi I

21 Vhouldor ?lyxion-hattnuton at 00 Abduction for 40

Gelated Manikin

22 bhoulder Ylaxion-Exrinnion at 450 Abduction for 49

Oranding Manikin

23 Shouldor Flexion-E1tenaion at 450 Abduction for 50

Seated Manikin

24 Elbow F1exion-Umwpniuion at 900 Medial Rotation 52

Test Setup

2,5 Ybow Vlexion-Extenvton at 00 Rotation for 53

S tandi ng Mariki f,

26 Elbow Vleoxon-.xroniuon at 900 Medial Rotation 54

fur Standing Manikin

)7 F.1bow Vl'xion-JLWtn|atof at Icv at Medial Rotation 5


28 Elbow Flexion-Ext4anaion at 27U ° Medial Rotation 50

for Itunading Manikin

29 Ilbow Vlexion-Extention at 00 Rotation for )7

oatvd Manikin

30U 1 lbow Y'l.A,*o-"r t inuon at 900 Medial Potation I8

.. for Ueatvd Manikfii

31 FIbow Flexion-xtveliunr at lbo, OMedial Itotation 59

for eatod Maniit|

32 Ylbow Ylexion-K.tersion at 2700 Medial Rotation 60

for Seated Manikin (No Right Ccoplmnt)

33 Wrist Ylexion-IUtvnvion at 900 Madiel Rotation ,2

Teut Detup

34 Wriat Vlexior.-tenaion at 00 Rotation for f3

Standing Manilkit

35 Wrist vlexioz-xtonaion at 90° Medial Rotation 64


36 Wriat Vlexion-f.xtonuion at 1800 Medial Rotation 65


Si - Wrist, Vloxion--KxrUauaton at 2700 Medial Rotation fib


46 Wriat Vlexion-Kxtvnxvu at 00 Rotation for 67

Seated Manikin

viii

39 Wrist Flexion-Extension at 900 Medial Rotation 68

for Seated Manikin


for Seated Manikin


for Seated Manikin

42 Knee Flexion-Extension Test Setup 72

43 Knee Flexion-Extension for Standing Manikin 73

(No Right Complement)

44 Knee Flexion-Extension for Seated Manikin 74

45 Ankle Flexion-Extension Test Setup 76

46 Ankla Flexion-Extension for Standing Marikiii 77

47 Ankle Flexion-Extension for Seated Manikin 78

48 Hip Abduction-Adduction Test Setup 80

49 Hip Flexion-Extension Test Setup 81

50 Hip Abduction--Adduction for Standing Manikin 82

51 Hip Flexion-Extension for Standing Manikin 83

52 Hip Abduction-AdduLtion for Seated Manikin 84

53 Hi I. Flexion-Extension for Seated Manikin 85

54 Static Bending Teat Setup for the Straight Spine 88

55 Straight Lumbar Spine bending Test 89

5b Lumbar Spine Flexion Test Setup with Abdomen 91

i.1 Place

57 Stiaight Lumbar "pin~e Fl(-eXi, T*Lt with hild t)?

without Abdomen

58 Static Flexion Test Setup tot the Lurved Spine 91

59 Curved Lumber Spine Flexioro Teit ')

60 Curved Lumbar Spine Extension Test 96

61 Curved Lumbar Spine Lateral Bending Tebt 97

62 Curved Lumbar Spine Flexion Test with and 98

without Abdomen

6- Static Bending Test 1etup for the Neck 100

64 Force Componetit and betuoruation Geometry Diagram 102

65 Free Body Diagram of Defotrae Segment 103

0b Neck Flexiu . Tetts- for tunding acid Seoteu 104

67 Neck Extension Tests for Standing and Seated 105

Manikins

68 Neck Lateral Bending Tests for Standing and 106

Seated Manikins

69 Dynamic Extension Test Setup fov the Neck 108

70 Nodding Block Stiffness Curve 111

71 Compliance Test Apparatus with Forearm 114

72 Compliance Test Results for Forearm 115

73 Skin Compliance Curves for Front of Head 117

74 Skin Compliance Curves for Back o- Head 117

75 Skin Co pliance Curves for Front of Thor" - 118

Position l

76 Skin Compliance Curves for Front of Thorax - 118

Position 2

77 Skin Compliance Curves for Front of Thorax - 118

Position 3

7b Skin Compliance Curves for Back of Thorax 119

79 Skin Compliance Curves for Abdominal Insert 119

80 Sktn Compliance Curves for Buttocks - Position 1 120

bi Skin Compliance Curves for Buttocks - Posi' 2 120

82 Skin Compliance Curves for Buttocks - Position 3 120

3 Skin Compliance Curves for Upper Leg - 121

Position I

84 Skin Compliance Curve. for Upper Leg - 121

Position 2

b5 Skin Compliance Curvet for Knee - Position 1 122

8b Skin CAoplianrte Curves for Knee - Position 2 122

87 Skin Compliance Curves for Front of Lower 123

Leg - Position 1

88 Skin Compliance Curvest for Front of Lower 123

Leg - Pobition A

89 Skin Compliance Curves for Rack of Lower Leg - 123

Position 3

90 Skin' Compliance Curve. fr Foot 124

91 Skin C,elianct Curvet., fr HunJ iz4

> umum um m u um m u umum m u um m u w

92 Skin Compliance Curves for Upper Arm - 125

Position I

93 Skin Compliance Curves for Upper Arm - I21)

Position 2

94 Skin Compliance Curves for Upper Ar - 125

Position 3

95 Skin Compliance Curves for forearm - Position 1 126

96 Skin Compliance Curves for forearm - Position 2 126

97 Skin Compliance Curves for Forearm - Position 3 127

98 Skin Compliance Curves for Forearm - Position 4 127

99 Pin Joint Coordinates 159

100 Ruler Joint with Spin Axis Locked 161!11 Joint Torque Dependent on a Single Angle 163

0a. Emple Joint Test Curve 164

103 Three Degree-of-Freedom Characteriitic Joint's Flexure 11,8

and Azimuth Angle&

104 Component Curveh tor a Body ' egment and the Averaged I/1

Curve

105 Mxasple ATB Force-Deflection Curve 181

106 Comparison ot Part 572 and Seated Hybrid III Simulationm 184

107 Comparibon ot Seated and Standing Hybrid III Simulations I5

108 Comparison ot Par! 5/2 and Standing Hybrid III 186

Siamulations

LIST OF TABLES

TABLE PAGE

1 Hybrid III Exterior Dimersiona 7

2 External Dimensions 9

3 Hybrid III Segments and Corresponding Joint 16

Hardware and Instrumentation

4 sent Weights 28

5 Segment Center of Gravity Locations in the 29

Anatomical Coordinate System

6 Sepent Principal Moments of Ins-tia 31

7 Summary Table of Free Joint Range of "otion 37

8 Hybrid III Neck Properties 110

9 Right Upper Am 129

10 Left Upper Arm 130

11 Right Fcreerm 131

12 Left Forearm 132

13 R:%ght Hand 133

14 Left Hand 134

15 Seated Right Upper Leg 135

16 Seated Left 'Upptr Leg 136

17 Standing kight Upper Leg 137

18 Standing Left Upper Leg i)8

19 Right Lover Leg IJ9

20 Left Lower Leg 140

21 Right Foot :41

22 Left Foot 14?

23 Seated Pelvid with Spinre 143

24 Standing Pelvis with Spine 144

25 Seated Pelvis without Spine 145

26 Standing Pelvi& without Spire 146

27 Seated Lumba! Spine 147

2b Standing Lumbar Spine 148

29 Thorsa 149

30 Neck 150

31 Head 151

32 Hybrid III Segento and Joints 153

33 Segment Mass Properties 154

34 Seement Contact Ellipsoids 155

35 Joint Locations 157

36 Joint Coordinate Systems 158

37 OD in Degrees 162

38 Joint Torque Characteristics 166

39 Right Sboulder Joint Torque Function 169

40 Head Pivot Torque Function 170

41 Neck Pivot Torque Function 171

42 Standing Lumbar Spine Torque function 172

43 Seated Lumbar Spine Torque Function 173

44 Standing Right Hip Torque function 175

45 Seated Right Hip Torque Faction 176

46 Force beflection Characteristics 179

Ixv

*I

1.0 INTRODUCTION

The use of ansiyticol computer based models for the prediction of human

response to mechanical forces for both safety evaluation of various

systems and the design of new systems is becoming a standard practice.

This is particularly true in the area of automobile crash and subsequent

occupant reponse investigations and in studies of crewmember responses

during ejection from aircraft. In these applications. as weil as

others, the use of models is a complementary process to physical system

tooting and provides considerable benefits in an overall program seeking

to identify and quantify potential systm hazards and subsequently

provide direction for system improvement. Specifically, modals can be

beneficial in reducing the number of required tests and thus reducing

program cost; they provide insigbt into various physical mechanisms that

may be occurring but whicb may not be obvious or readily observed in

actual testing; they allow fcr a convenient means of investigating the

effects of parameter changes; they can be used in test design to define

the optimum corfiguration and conditions; they can be u&ed independently

of an actual test to investigate the general feasibility of concepts;

and ultimately, with sufficient validation and a soundly developed data

base, they may be used directly as an injury assessment tool. While

these benefits are substantial their realization requires not only a

sounr analytic methodology but also an appropriate and soud oats base

that properly characterizes the system being modeled.

This program has sought to develop such a data base for the Hybrid III

dummy. The Hybrid III dummy is extensively used in automotive crash

testing, is generally considered to be the most advanced of automotive

testing dummies currently available and is in the process of being

adopted by the National Highwaiy Traffic Safety Administration as astandard for automotive safety compliance testing. While the ultimate

objective of this program was to develop a data base for the Crash

Victim Sisulator (CVS) ad Articulated Total Body (ATB) computer models

by reducing the data to the exact input formats required for these

prograRs, the directly measured data is also presented to provide an

explanation of the methodology used iv measuring the dummy properties

and also to provide data that users of other models could reduce

according to their model input formatting requirements.

The measurement objectivex in this program, though not necessarily the

methods, are the saw as in the study on the Part 572 dumm7 conducted by

Flec, at al [ll. The Part 572 dumay is a derivative of the General

Motors Hybrid Il dummy which. in many respects, is similar to the

presently investigated Hybrid Ill dummy. While a direct comparison of

the data sets is not made in this report. simulations with identical

dynamic. exposure conditions were performed using the Port 572 and Hybrid

III dummy data sets and the results are reported.

Two Hybrid III dtmie were measured in this stuc.#. An illustration of

the two types of manikins, standing and stated, is shown in Figure 1.

One dummy had freely articulating hips, is comnly referred to as &

pedestrian testing dummy. and in this study is denoted as the standing

dummy. The other dummy was the standard Hybrid III with a pelvis

section molded in a sitting position. This dumy is denoted as the

seated dummy. The intent of this program was tc develop one standard

data set for the Hybrid III and in effect. this was done with the seated

dummy date base. However. the pelvic and upper leg structure of the

standing dummy was substantially different atod thus a different data set

was developed for this portion of the body. The result was that all

body data properties for the two dummies and their left and right sides

were averaged to produce one common date set for the total body, except

for the pelvis (including lumbar spine) and uppet legs. Two data sets

were prepared for the pelvis and upper legs and each combined with the

common, averaged data set to form the seated and standing Hybrid Ill

data seto.

This report describes the measurement methodology, the results of the

measurements,. the data reduction methods, the assumptions and methods

for reformatting to the CVS/ATS model format and a demonstration

simulation cooparing the Part 572 and Hybrid III duamy responses under

identical conditions.

2

1.

I-

- i -

9, !00

Figurv I. Hybrid III Standing ;nd Seated Manikinb

3

2.0 TEQINICAL DISOJSSION

2.1 Physical Measurement of Mpn:ikin Properties

In this section the various physical measurements that were made on

both sanikit.s are presented and discussed. In general, each

subsection presents and discusses the procedure developed, the

equipment used and includes both a presentation &nd discussion of the

results obtained. Each pertinent data set. i.e. mass properties.

external dimensions, joint characteristics. etc, has been separated

into the various subsections for clarity and for easy reference.

2.1.1 Measurement of Manikin External Dimensions

2.1.1.1 Description of Measurement Procedure

One of the requirements of this study was to obtain a series

of external measurements on the Hybrid UI following the measurement

descriptions presented in USG 2485. "Hybrid III Exterior Dimensions*.

These msurwntab are shown in Figures 2 and 3 and the dimensions in

Table 1. The table and figures were prepared by General Motors and

provided to DOT (Backaitis. Personal Communication) [2). The

objective of these tests was to make the sone set of measurements of

the standing and seated Hybrid III manikins being investigated in

this study. The manikiis were assembled and positioned as in Figures

2 and 3. Each one was seated on a box which vat placed against a

vertical wall, and the manikins were placed upright so that the back

of the pelvis and thorax touched the wall. The instruments used to

conduct the measurements were a GPM Gneupel arthropcmeter and a

Kuffel & Easer steel tape measure. Both instruments bad a re. Aing

resolution of one millimeter.

4

AA NOTE: FIGURE REFERLNCEDTO THE ERECT SEATEDPOSITION.The curved lumbar does

T-AXISnot allow the Hybrid 111to be positioned iii a

X-XSperfect erect attitude.

FigLet 2. Hybrid III Extvrior Bt~v 0iion:t,~ - Fro~nt V ..w

- ~ ~ I Ih REC IFAMIPO~flO .The curved lubar does not allowthe Hybrid Ill to be positionedin a perfect erect attitude.

Figuxe~ 3. Hybrid .!I Exterior Body Diaenoions Side View

6

TABLK 1HYBRID Il ECTIOR DIHg4SIONS

Dimensional AsmblySymbol Description Dimension

Cinches)

A (U) Sitting Height (Erect) 34.8_.2

a Shoulder Pivot HeiGht 20.2+.3

C *' Point eight 3.4ref+.1

D " Point Location from Back Line 5.4ref+.l

9 Shoulder Pivot Location from Back Line 3.5±.2

F (Q) Thigh Clearance 5.8+.3

G back of Elbow to Wrist Pivot 11.7,.3

Occiput to Z-Axis 1.7.1

I (1) Bboulder - Kibow Lengtb 13.3+.3

J (J) Elbow Reat Height 7.9.4

It (P) Buttock-knee Length 23.3+.5

L (L) Popliteal Height 17.4+.5

M (H) Knee Pivot Height 19.4.3

N (N) Buttock-Popliteal Length 18.3+.5

0 (0) Chest Depth 8.7+.3

P (S) loot Length 10.2+.3

V (V) Shoulder Breadth 16.9+.3

W () loot Breadth 3.9+.3

y (y) Chest Circumference (with chest 38.8+.6jacket)

Z (Z) Waist Circumference 33. 5.6

AA Location for Measurement of Chest 17.0+.1Circumference

RD Location for Measurement of Waist 9.0+.1Ci rcomference

( ) SAE J963 Neasurement

Note: The "iO point is locateo 1.83 inches forward and 2.57 inches down fromthe ceriter of the pelvis angle reference bole.

I,

2.4. Discussio, of Results

The results of the measure-meto made on both manikins are

pre"Ste. and compared with those listed in USD 2485 in Table 2.During *#bie conduct of the measuremets. a few problems were

eflountvred. One of which was the inability to locate the OR*' pointas per the instructions presented in U39 2465. The "B" point, as

described in UBG 2465. is "located 183 inches forward and 2.5iinches doiwn from the center of the pelvic reference bolmher W4 aretbre* holes on each side, of the seat i pelvi, and none on thestanding pelvis. It was, therefore unctlear which was the pelvicreference hole. Proceeding from each hole as deactihe4 in UB 2485.

did not result in the location of any structural fature. such as thehip pivot. which might be interpreted as the "11O point. Therefore.

no measurements using the "NO point wet* obtained.

A second problem was that the head d~id not touch the wall when each

manikin was positioned in its upright. seated position. Theneck/thoraz attachment fixture of the Hybrid III neck permits the

angle of the neck, relative to the thorax. to he varied. For thesubject tests, the neck was set at 0 degrees. This is as specifiedby General Motors in the inspection and check out procedure [31. The

reported value for sitting height is the maximum that could heobtained by pushing the bead back (which is the case in measuringthis dimension on humaga aubjects). Measuring sitting height with the

manikin head in its usual position results in a value of 0.3 inches

less than that listed in USG 2485.

Other discrepancies between the dimensions listed in US; 2485 and the

current measurements are in the chest depth and the locations (height

abowt the seat pan) for measurement of the chest and waist

circumferences. From the drawings describing those dimensions. che~t

depth was interpreted as the maximum depth veasured on the two

manikins. No ready explanation can be offered for the differences in

TABLE 2

&ENA DIUSICUS

Hybrid III ftterior Di ensions (inches) as Listed in Table 2.1.

USG 2485DIDSION DESCRIPTION ASSEMLY HY5RID IIISOMa., DIMuSIOMS STADMG STE)

A Sitting Height (erect) 34.8+.2 33.9 34.6B Shoulder Pivot Height 20.2+.3 20.4 19.9C "So Point Height 3.ref +.1 -- --

D "HO Point Location from 5.4ref_.l - -

Beck LineR Shoulder Pivot Location 3.5+.2 3.7 4.4

from Beck LineI Thigh Clearance 5.8+.3 6.0 5.9G Back of Elbow to Wrist Pivot 11.7+.1 11.6 11.5H Occiput to Z-Axi& 1.7+.l 2.4 4.3I Shoulder-lbow, Length 13.3+.3 13.4 13.6J Elbow Rest Height 7.9+.4 7.6 7.4K Buttock-Knee Length 23.3+.5 23.4 23.3L Popliteal Height 17.4.5 18.0 17.9H Knee Pivot Height 19.4_.3 19.3 19.1V Buttova-Popliteal Length 18.3+.5 18.7 18.90 Chest Depth 8.7+.3 10.6 10.5P Foot Length 10.2+.3 10.1 10.2V Shoulder Breadth 16.9+.3 16.7 16.8W Foot Breadth 3.9+.3 3.7 3.8Y Chest CircuLference (with 3b.8+.6 38.8 37.6

chest jacket,Z Waist Circtmference 33.54.6 33.5 33.7A Location for Measurement of 17.0+.I 16.5 16.1

Chest CircumferenceB3 Location for Measurement of 9.0+.1 10.4 10.0

Waist Circumference

Note - The Oi point is described as being located 1.83 inches forward and2.57 inches down from the center of the pelvic angle reference bole.

m i u n m i m u n N p me m iuuno n9

dimension values. The locations for chest and waist circumferences

were internreted from the USG 2485 drawings as being just below the

breast and at the lower edge of the thorax jacket, respectively.

2.1.2 Measurement of Manikin Segment Geometry and

Axis System Descriptions

The geometry of each segment is specified with respect to a coordinate

system embedded in the segment. This was done by measuring the

three-dimensional coordinates of a number of landmark points on the

segment in a laboratory reference system, using prescribed combinations

of these points to establish a segment coordinate system and then

transforming all the landmark coordinate points from the laboratory

system to the local segment coordinate system. The following sections

describe this process in detail.

2.1.2.1 Description of Basic Measurement Techniques

The dummy segment geometrical measurements were performed while the

segment was mounted in a segment reference box which was used in the

inertial property measurement tests. Three dimensional points were

essured on the segment and on the box using a jointed.

electromechanical device with axis-mounted potentiometers called a

Perceptor. manufactured by Micro Control Systems. Inc. The measuring

system, with an arm segment in a box. is shown in Figure 4. The

Perceptor was interfaced through a control terminal to a Perkin-Kmer

3240 minicomputer, where recorded points were stored for analysis.

Interactive VORTRAN programs were written to control the recording.

labelling, and analysis of points.

Recording began with the manikin segment immobilized in the three-sided

test box used in mass properties testing. Points were recorded by first

tntering a label through the console, then positioning the end of the

Perceptor stylus at the appiopriste location and triggering tht

recording with a foot pedal. Some points on the segment could not be

reached because of box obstruction. To remedy this problem. the segment

I0

Figure 4. The Ptrceptor -Sown with Manikin Forearm in Test Box

vaa. removed from the box after recording at least three non-colinear

reference points on both the box and segment, then repeating the

recording of -.eppent raeterence point- along with the: other desired

points. This procedure permitted the calculation of transformation

matrices which defined the three-dimensional displacements of the

4ifferent sets of points into a common axis system.

2.1.2.2 Definition and Location of Landmarks and Axis Systems

In order to compare the data measured for the Hybrid III with three

dimensional human data. a series of landmarks were recorded which were

analogous to the anthropometric landmarks used to define the axes on

stereophotogrametrically recorded data of adult men and women [4J &

[5]. Points for defining joint and joint axes locations were also

recorded and were ustd as the basib for defining local mechaniLal

coordinate systems which were directly related to the mechanical

structure of the manikin. The criteria for locating "anatomical"

landmarks on the manikin were their spatial relationship with relevait

structural features (i.e.. joirts), the similarity of the manikin

external geoametry to humans. and the desirability of having axes defined

by landmarks on the sepent ivself. This procedure was hindered b)

structural and geometric features which were dissimilar to humans ur tot

present, and by the fact that a lenduark may not. even in humans. be

located on the relevant segment. For exam[l*. the upper arm anatcAical

axes are defined by three anatoMiLal landmarks which would not be

considered to be present on the Hybrid III upper arm (see Table 9. Right

Upper Arm). Acromiale. the lateral-most point on the acromion process

of the shoulder (part of the Hybrid IIl torso), was located for the

upper arm ei the superior edge of the lateral side of the soft covring.

The lateral and medial humeral epicoind)le in humans are located ot, the

Lpper arm, but also define the elbow axiv. In the Hybrid III, the

surface covering the elbow ia pait of the forearm (Lew Table 11. Right

forearm). Thus. for the purpose of definirg the upper arm axes. the

epicondyles on the upper are were located at the medial and lateral

inferior edges of the uoft covering. While none of the three

axis-defining landmarks for this segment are in thr ideal locations, the

12

plans are analogous to the huan system and permit a reasonable

comparison between human and manikin properties.

Lc Section 2.1.6 presents the definitions of each of the landmarks used to

define axes for each of the Hybrid III axis systems. Most lundmarks

were located at positions that were reasonable analogues of those of

humans, or. as in the upper arm, in positions which would define

anatomical axes as similar as possible to those defined for humans in

the stereophotometric studies.

The anatomical axes are Senerslly defined by two vectors, i end b.

formed by three non-linear landmarks on the segment surface. The

vectors a and V define a plane, with ' X b c defining a vector normal

to the plane which is orthoganal to both ' and b. The directions o. a

and ' are chosen so that the directions of the axes follow the general

convention of z forward, y to the left, and a upward. In order to

assure the proper orientation of these axes and the desired location of

the origin, sometimes more than three points are used to specify tb

axis vectors and origin. The individual axis systems are defined.

segment by segment, in section 2.1.6.

2.1.2.3 Transformation of Data Between Axis Systems

Three-dimensional coordinates of points are initially measured on the

sepents and the box by the Perceptor and recorded in a laboratory

reference system designated by L Three points on the box are used to

define a coordinate system designated by B. and all the points are

transfornea to this box coordinate system. This system is used in the

measurement and calculation process of segment inertial properties.

From the points measured on the segment& and the inertial property

measurements, thret *,gmeht base coordinate systems are calculated. Ai

anatomical system designated by A and defined by equivalent anatomical

surface landmarks; a local mechanical reference system designated by L

and defined by segment mechanical features, for example joint cent. rs

and rotation axes; and a principal axeb vyste" designated by P and

13I

obtained by segment inertia tensor diagonalization are established and

transfomations between thew calculated.

These transformations are in the form of 3X3 cosine matrices, and their

operation on vectors is siven by

rL = AArA

vhere rA, rL, rp are the same vectors but with components in the

anatomical, local and principal coordinate systems respectively.

The cosine matricea. [AJ. are orthogonal and have the corvenient

property it two are know the third can be calculated by the matrix

product

A AIAAMK.

It was decided to pres.nt the results of the testing of the two Hybrid

III manikins in the fors of a mean reFresentative data set. As

described below, the method for a:riving at the representative geometry

is in part an averaging of the two manikins, and in part an effort to

account for the uysmatry designed into the manikins. Each of the limb

uegents. four data sets, right and left from both manikins. woere

combined (exceptions wcre the upper leg. pQlvis. a:.-' spine which

differed in the manikins and were treated separately). For the axial

segments - head, neck, thorax, and pelvis - airrozed data sets were

created so that a symmetrical representation vould result.

The component of the vector from, the local rrference origin (center of

mass) to a joint center was reflected from the right side to( the left

gide by changing the vigns. The mirror images of axial segmentu (head.

neck, thorax. and pelvis) wete created by averaging the values of right

and left side landmarki.

I I,

The mean value of the Wv vector was calculated for each body segment.

This vector was noted to have a random lateral variation about the

segment long axis. so an adjustment for consistency was node by setting

the Y coordinate value to 0.0.

The results are presented for each segment in section 2.1.6 where the

representative values of the landmark coordinates in local reference and

anatomical axes are presented along with the matrix (AAL) for

transforming points from local to anatomical systems.

2.1.3 Measurement and Determination of the Mass Properties of

'b.e Manikin Segments

2.1.3.1 Discussion of Measurement Techniques and Equipment

Utilized

2.1.3.1.1 Segment Mass

The equipamnt used to measure the mass of the manikin segments vab an

electronic weighing scale and a segment holder, a three sided

rectanpular balsa wood box. The mass properties of t e balsa boxes were

seasted beforehand and storri in data files on a supporting Hewlhtt

Packard 85-B microcomputer. The segment was extracted from adjoiriing

segments and tested with the joint hardware as listed in Table 3. The

segmnt was weighed ir, the box and the box weight was subtracted to

obtain the segment weight. These boxes provided a means to easily and

securely house the manikin segment in & fixed position while its masr

properties were being detemined. A representative box is shown in

Figure 5. A velcro strap was used. alonig with masking tape when

necessary, to rigidly fasten the sebment within the box so that no

relative notion was possible.

II'

TAOLm 3

Need eccipite ceamdyle pin hued-meek 1o1d cell 76051-61three Secelerunmters

Neck uper mek bracket 0/0 76051-907M051-307

Tboraz shoulders a 78051-89

Pelvis a/0 lIuber load cell 76051-70(v/Spim ) 78051-60

78051-1378051-25

Pelvis 0/0 lumber lod cell 78051-60(v/our spine) 78051-13

78051-25

Upper Aim a/s n/a 78051-174(right side) 78051-126

78051-191

Forearm elbow u/4 78051-194(right side) 78051-204

78051-19978051-20078051-20178051-20270051-20378051-128

K1nd wrist A/a 78051-209(right side) 76051-214

Upper Let hip n/S 76051-51(right side) 78051-47

78051-2778051-678051-72780S1-9678051-276

Lower Log knee n/s 78051-74(right side) 78051-278

78051-13978051-27278051-20378051-12978051-3377051-271

Foot ankle n/s 18051-285

(right bide) 71051-96

16

figure 5. Uals Segment Holding lox

These boxes were similar. although not identical to those used by

Lepbart 16i in his studies. The boxes were carefully constructed of

multiple layers of laminated, light-weigbt. cross-grained balsa wood.

witb particular attention being paia to the three outer edges so .hat

they were orthogonal. These mutually ptrpendicular edges defined a box

axis system, the origin of which was at the point where the three outer

box edges intersected, and with respect to which the subsequent incrtial

property measurements were made.

2.. 3.1.2 Segment Center of Gravity Location

The test equipment used to locate the manikin segments' center of

gravity (Ug) positions included an electronic weighing scale, an

alumintm knife-edie, an adjustable stand, and the Perceptor. an

electronic position coordinate digitizer. The knife-edge/electronic

scale assembly configured for measurement is sbowi, in Figure 6. TIe

methodology employed to locate the cg is very straightforward beini-

based on a balance of moments about one edge of the plate.

17

figure 6. Tesr 8quipsent Used For Determining Segment Center

of Gravity

The knife-edge--plate, was carefuslly construhcted such that the two knife

blades were parallel and the right knife blade and the chock, on the

upper surface of the plate. were longitudinally coincident. As shown in

Figure 6. this plate was mounted horisoelly onto the adjustable stand

and scale surface. After the plate wasn positioned level on the scale

and stand, the scale was tared to sero prior to a meaurmnt. Figure 7

sbows the components configured for measuring the W1 coponent of the

cS location of the forearm segment. The *loaded' box wao placed on the

plate so that One Of hbe box edges was positioned firmly against the

chock. The restoring moment due to the scale reaction force was

calculated fro tbe scale reading. measured in this position, and the

known blade separation distance. The restoring moment is simply the

scale reading multiplied by its moment arm, the blade separation

distance. The cg position of the box + segment with respect to the box

edge in contact with the chock can thee. be calculated, using the weight

of the box + segment, by a balance of moments as shown at the bottom of

Figure 7. Performing three such measurements. each with a different box

axis perpendicular to the chock, established the thre* dimensional

18

IU A

F6.

F9 Seas nedbe of he..A am an h~s edge Oftl

*g Krew. blode isepweeadINlSl

%&Cato 0ll@Wlsef4 I ulioe emkpnvl

peg

Figure 7. Test Setup and Procedure for Deterain.,ng Segmewnt Center of Gravity

19

locatiem at the box + seguest: cg with respect to the has: origin, Since

a ideutI'ad Procedure had already bee" perfetmi em the box alone, the

sget center at prity locatiom s calculated by subtraction of the

hemf mimmtP mmeats.

To preenve the identity of the segment center of graity position when

the saent was rvowed f rom the box required the, identif icatiom of test

object leasrk geomtric interrelationships with respect to the box

axis system. Lamdsrks for each aepaut were chosen that had either

*4sastanica1 or Osecheical" sigificance. That is, these landimarks

helped define segnat based anatmical or local mechaical axis systs

as described is section 2.1.2. Identifying the coordinates of at least

three nown-collinear segment landuarks, while the segment was still

housed within the bam, provided not oaly locations free which to

reference the cg position. but also sufficient gometric infomnation to

calculate transforsation matrices that were later used to manipulate the

segment's inertial property data. Share in figure 8. along with the

foresem segment, is the Micro Control Systom's Perceptor. a

patentimnt..r based three-dimensional posit ion coordinate recorder.

which was used to digitize the segment landmarks.

2.1.3.1.3 Segiment Inertia

The equipmeat used to measure the segment's inertia tensor consisted of

a Space Mectranics Inc. Max&. Properties Instrument (Nfl). a compressed

air or nitrogeni source. a gs dryer/filter. a Hewlett Packard UP 85-B

microcomputier, and a balsa wood jig. The controlling hardware of the

PIl, the gSe dryer/filter, and the UP 65-1 are shown in Figure 9. and

the structure housing the torsional pendulam itself is showm in figure

10.

20

IC30

figure 9. Gas Dryer and KPI Instrumentationi

The main component of the HPI is at, inverted torsional pendulum. This

pendulum is coupled to a platter and grid platet assembly that rious on aspherical gas bearing perfused with either clean. dry compresstd air or

nitrogen. In essence the MPI to a precision timing instrumont. The

21

mmet of inertia of a menikin sepient is calculated f rom the time

period ad the penmls torsional oscillations. The NIX produces aninitial, repeatable torsional perturbation made subsequently through aphotocell dewice. mesures the resulting period of the pendulum's

torsional oscillations. The Nil is soot accurate whem the cg of the

gm it andor hiR being tested is placed directly on the axis of the

torsionmal pendul um. Sf tware on the UP 65-3 provided the coordinates

where the boa was to be mounted on the grid plate, such that the c& of

the test object was placed within 0.35 imches of the pendulum axis. The

box was firmly secured to the grid plate via double sided tape and

maskimg tape "amchors* wham necessay. figure 11 Illustrates the

forearm mounted on the grid plate for a moment of inertia measurmnt.

Figure 10. Inertial Neasuzement Squipment

Six quantities must be mestwa to completely identify the inertia

tensor of the manikin spgent. The momenta of inertia wort measured

22

Figure 1.Forearm Mounted on NP! Platform to DetermineMoment of Inertia

Figure 12. Forearm Mounted in Jig on NP! Platform to DetermineMoment of Inertia about an Oblique Angle

23

about each of the three box sxes. in turn. mounted perpendicular to the

surface of the grid plate, as in Figure 11 and about three oblique

angles as shown, for eample. in figure 12. Note that the composite box

+ ssaent * jig cg is positioned over the pendulum axis. The following

expression was used to detexine the products of inertia, Pty, with A

being the angle of inclination of the x and y axes from the grid plate:

pay = I +,Iv * T 2A - 1 +T Lg *2 * Tan A

Simplification of the method involved incorporating a j ig which held the

sepnts at 45 degrees to the grid plate yielding the following equation

that was ultimately used to compute the products of inertia:

ay = Iz* + Ivy - 2 * Iy2

For a detailed theoretical development of these mathematical expressions

the reader is directed to Chandler. at. al. (7].

In order to isolate the inertial properties of the manikin segments

alone, the inertial contributions of the box and jig had to be accounted

for in the procedure. Identical moment of inertia measurements were

perforued on the boxes used with the segments. The box properties.

defined with respect to their centers of gravity, were stored in data

files on the liP 85-5. Data processing software used the

parallel-axis-tbeorm (PAT) to subtract out the box properties. The PAT

is stated as follows:

I A z I0 + 1M* DAO2

where IA is the moment of inertia about an arbitrary axis "A", I0 is the

moment of inertia about the axis *0 through cvnter of mass. M is the

ms of the object, and DAo 2 is the squared distance between the two

parallel axes OAO and "0. The exact placement of the box origin on the

grid plate is recorded for each step in the seasurament process. Since

the net cg location of the box and the segment are known with respect to

the box origin, this origin was placed on the table platforu so as to

24

alin the net box and segment cS with the pendulum axis. Thus the PAT

was employed as folloue in a three mtep sequence:

1) ISP= Iso + vso

Where

Illp = moment of the boa about the pendulum axis

ISO a moment of the box about an axis parallel to the

pendulum axis but centered at the box c$

% xmas of the box

DpO2 a the squared distance from the pendulum axis to the

bou c&

2) Isp = I(s B)p- ip

Where

Isp a moment of the segment (alone) about the pendulum

axis

I(S+B)p x moment (as measured) of the segment + box about

the pendulum axis

Isp x as above

3) 'so = ISP - NSDOP2

Where

ISO x moment of segment about its cg

ISp = as above

HS a mass of segment

D¢,p2 x the squared distance from the pendulum axis to

the segment ca

Step 1) above provides the moment of inertia of the empty box defined at

the exact position that it was placed on the grid plate during the box

plus segment measurement. Step 2). in turn. subtracts the box

contribution from the composite box plus segment moment of inertia that

wus actually measured in the test. yielding the moment of inertia of the

25

-, ,- -P- -~ -----

segment, alone about the pendult. axis. Step 3) provides the moment of

Inertia of the segment alone about a axis which passes through its own

eg, L~e. anelement of its inertia teaser. Mwe momenta of inertia used

to calculate the products of inertia are transformed in an identical

fashion. Note the jig contribution is accounted for implicitly since it

wum considered as part of the box properties.

After the six unique elements of the segment inertia tensor were

identified. this inertia tensor was diagonalized using softwate on the

5P 85-D. The diagovlisation produced three principal moments of

inertia and a 3X3 mtrix of direction cosines which defined the

orientation of the three principal directions. Since the segments were

measured in a box, the principal directions were oriented with respect

to the specific box axis system. further transformations, as described

in section 2.1.2.3, redefined the principal directions with respect to

either anatomical or local mechanical "ae.

The moments of inertia and the principal axes directions with respect to

the local #"mot wxe# f or each of the manikin segments are presented in

the data tables of Section 2.1.6.

2.1.3.2 Accuracy of Measurement Techniques

Geometric test objects, whose inertial properties could be precisely

analytically calculated, were used to evaluate the accuracy of the mss

properties procedure. Geomtric weights. in the ran-.@ of 0.15 lbs to

19.6 lbs. were used to determine the percent error versus m.1initude of

mmat of inertia and the error associated with locating the center of

gravity. XIn addition, the measured orientations of the principal axes

were compared to the known orientations to determine the accuracy of

this procedure.

The resulting percent error of the measured moment of inertia ws found

to increase with decreaing magnitude& of moment or, the smaller the

moment, the larg~er the error. The maximum percent errur for the

smallest moment found with pifts representing componetits of the Hybrid

26

III manikin was less than 3M. Given an average moment of 100 to 150

lb-in2for the segments, the associated error is about 0.51. The maximum

principal axis direction orientation error was determined to be +6

degrees and the maximum percent error of locating the center of gravity

was 40.3 cm in each of the coordinate directions.

2.1.3.3 Presentation and Discussion at Results

The sesent weights, eg locations and principal moments for the seated

and standing manikins are presented in Tables 4. 5 and 6. respectively.

Values for right and left limbs are averaged individually for the seated

and standing manikin. Values for each segment for both manikins were

averaged and are presented in the far right columns in all three tables.

Note that for several manikin segments. properties are unique because of

the different designs for the seated versus standing manikins. for

these segments (the pelvis, lumbar spine and upper legs) the properties

were not averaged. The cg locations are given in Table 5 with respect

to the anatomical coordinate systm whicb Ls defined for each segment in

Section 2.1.6.

27

TABLE 4

SEGMET WEIGHTS

Manikin Wt. (1.s) Ave. Wt. (lbs)

Head Seated 9.92 9.92Standing 9.92

Neck Seated 2.67 2.67Standing 2.67

Thorax Seated 38.85 39.22Standing 39.58 2

Pelvis Seated 49.35 49.35(V/Spine) Standing 24.57 24.57

Pelvis Seated 44.46 44.46(L/O spin) Standing 21.91 21.91

Lumber Seated* 4.89 4.89Spine Standing* 2.66 2.66

Upper Seated 13.71 13.71Leg Standing 19.98 19.98

LoUer Seated 7.27 7.64Leg Standing 7.21

Foot Seated 2.76 2.76Standing 2.76

Upper Seated 4, 59 4.60Arm St anding 4.61

korearn Seated 3. S9 3.80Standing 3.70

Iknd Seated 1.29 1.29Standing 1.29

* I lb subtracted due to steel plate attachsent.

TABLE 5

SEMHDT CMU OF GRAVITY LOCATIONS IN WE ATHICAL COOMDINME SYSTUB

Aveae WSeAmet Manikin Q; Coordinat , (in) Coodiae (b)

ead Seated 1: -0.121: 0.00Z: 0.67 -0.12

0.00Standin 1: -0.12 0.67

y: 0.00Z: 0.67

Neck Seated 1: 3.74Y: 0.00Z: 3.05 3.74

0.00Standing X: 3.74 3.05

Y: 0.00Z: 3.05

Thorax Seated 1: 3.82Y: 0.00Z: 5.64 3.63

0.00Standi,8 X: 3.43 5.83

Y: 0.00Z: 6.01

Pelvis Seated X: -3.32 -3.32(v/spine) Y: 0.00 0.00

Z: 0.77 0.77

Standing X: -4.02 -4.02Y: 0.00 0.00Z: 0.45 0.45

Pelvis Seated X: -3.34 -3.34(v/o spine) Y: 0.00 0.00

Z: 0.30 0.30

Standing X: -4.22 -4.22Y-0 0.00 0.00Z: 0.09 0.09

Liumbr Seated X: .13 O..Spine Y: P.00 0.00

Z: 2.56 -2.56

Standing X-: 0.00 0.00Y'. 0.00 0.00Z: -2.56 -2.56

29

TAK4 5 (rM )

Upper Seated 1: 0.00 0.00LOg 1: 2.78 C-) Left 2.78 (-) Left

Z: -9.76 -9.76

Standin 1: 0.39 0.39Y: 3.15 (-) Left 3.15 (-) LeftZ: -6.10 -6.10

Lower Seated X: 0.18Let Y: -2.18

Z: -5.27 0.00-2.01 (+) Left

Steading X: -0.12 -5. 12Y: -1.84Z: -4.96

Foot Seated K: -4.15Y: 0.00Z: 0.54 -3.99

0.00Stding X: -3.62 0.50

T: 0.00Z: 0.45

Upper Seated 1: -0.05Ara Y: 1.64

Z: -4.97 0.001.69 (-) Left

Standing 1: 0.01 -4.88Y: 1.73Z: -4.78

Forearm Seated 1: 0.841: 0.59Z: -3.05 0.92

0.37 (-) LeftStanding 1: -1.00 -3.03

Y: 0.15

Z: -3.00

Hand Seated X: -0.82Y: -0.49Z: 0.48 0.84

0.53 (-) LeftStanding 1: -0.85 0.50

Y: -0.56Z: 0.52

30

TA"I. 6

- PWIU 0 S M 11 f WIA

ft'isipal Aiucipal Mmnt

Mwikin nri Uesm p of Inertia (lb. Ze2 ij)

ed Seated 1: 0.1406T: 0.2128Z: 0.1956 0.1408

0. 212b8Standing X: 0.1408 0.1956

I: 0.214Z: 0.1956

Meck Seated 1: 0.0254T: 0.0257Z: 0.0084 0.0254

0.0257

Standing 1: 0.0254 0.008.1: 0.0257Z: 0.0084

Tborax Seated 1: 2.55061: 2.0164Z: 1.6836 2.6203

2.0517Standing 1: 2.6899 1.733b

Y: 2.0849Z: 1.7835

Pelvis Seated I: 2.5109 2.5109(v/spine) 1: 1.6110 1.6111,

Z: 1.4925 1.4925

Standing 1: 0. 879 0.8879Y: 0.7293 0.7293Z: 0.5659 0.5659

Pelvis Seated X: 2.4575 2.4575

(W/O spine) 1: 1.2969 1. 2969Z: 1.2080 1.2080

Standing X: 0.8019 0.8019Y: 0.6182 0.6182Z: 0.4678 0.4678

Lumber Seated X: 0.0612 0.0612Spine Y: 0.0593 0.0593

Z: 0.0205 0.0205

Standing X: 0.0196 0.0196Y: 0.0196 0.0196Z: 0.0083 0.0083

31

TaKs 6 (aMruuU)

?uimcipa1 Mmnts A.era ?dacipa Now tmmikim d s.. Ube Sa2 i.) of ,inetia Ube SOC 2 in)

Upger Seated 1: O.6092 0.692

Los 1: 0.5934 0.5934Z: 0.1066 0.1068

Standing 1: 1.4494 1.44941: 1.4968 1.496Z: 0.1989 0.1989

Lower Seated 1: 0.6726LeO 1: 0.6744

Z: 0.0313 0.67060.6745

Standing X: 0.6689 0.0397Y: 0.6745Z: 0.048D

Foot Stated 1: 0.00691: 0.0512Z: 0.0491 0.0067

0.0524

Steading 1: 0.0065 0.04911: 0.0536Z: 0.0490

Upper Seated 1: 0.1035Are 1: 0.1018

Z: 0.0102 0.10250.0997

Standing 1: 0.1014 0.0110Y: 0.0976Z: 0.0117

Forearm Seated 1: 0.1203Y: 0.1152Z: 0.0060 0.1191

0.1128

Standing X: 0.1179 0.00691: 0.1103Z: 0.0077

Hand Seated X: 0.0114Y: 0.0093Z: 0.0033 0.0115

0.0093

Standing 1: 0.0115 0.0036

Y: 0.0093Z: 0.0038

32

2.1.4 Measurement of Hanikin Joint Physical Characteristics

In order to properly reflect natural limitations in human joint freedom

of motion, the Hybrid III dmmies have built-in joint stops. While

those stops are structurally yell defined, their effective position can

be seuwbat modified by some local structural deformation and by the

interaction of the soft flesb coverings. Joint resistive properties can

also be modified by applying resistive torque through friction devices

in the manikin joints. This frictional force is user adjutsble and is

mainly used for maintaining constant manikin position prior to the main

impact exposure. In the tests described herein, the net effect of all

the parameters which contribut2 to joint resistive torque were measured

except that of the joint friction mechanism.

2.1.4.1 Measurement of Joint Resis*ance Torque as a Function

of Joint Rotational Angle

The A1/S model joint modeling capability requires the representation

of joint torque resistance a a function of angular rotation. The joint

characteristic testing in this study was designed to provide this data.

In general. the testing approach involved the rigid clamping of one of

two articulated segments, the forcing of the free segment through a

planar arc using a load cell and measuring the force required and the

angle of rotation. Using this process, both for loading and unloading.

resulted in joint load deflection characteristics.

2.1.4.1.1 Description of Joints and Test Set-Up

With the exception of the hip. which has a ball and socket joint, tho

articulations of the shoulder, elbow, wrist, knee, and ankle are pin

jointed devices. For a pin joint, the two clevices of the aojoining

sepects are hinged together by a bolt and washer combination that

provides a planar range of motion with the hardware, stove, or soft

covering determining the particular range of motion. While the joints

13

can be tightened to provide variable joint resistance, all joints within

this study were loosely torqued to slw free range of notion within the

limits of the soft and hard stops.

For a joint under investigation, only the two adjoining segments were

used to conduct the test. One segmnt was clamped solidly to a holding

frame in a manner that would bold the weight of the test object without

intetfering with the range of motion. In addition, the stationary

segment was positioned so that the joint axis was parallel to the

gravity vector to eliminate the effect of the torque about the joint due

to the weight of the rotating segment.

2.1.4.1.2 Instrumentation Utilized

A Waters AK potentiometer and a Strainsert 250 lb single-axis load cell

were used to measure the angle of rotation and the applied force.

respectively. The output of these transducers were fed to a

Hewlett-Packard X - Y recorder. Calibrations of the potentiometer, used

to record joint rotation, indicated that the potentiometer had a 0.1

degree of accuracy and good linearity. The load cell was wired through

a bridge balance and amplifier to the y-axis of the x-y recorder and was

periodically calibrated. The load cell had a 0.75 lb accuracy.

For the loosely torqued joints, the bolt holding the two clevices

rotated through the full range of motion with the movement of the

rotating segment. This rotating bolt was attached directly to the ais

of the potentiometer through an interface fixture which was designed to

fit the head of the box bolt. The load cell was positioned

perpendicular to the limb axis and parallel %ilh the plane of rotational

notion. Se, for example, Figure 13. Using "Ae load cell as the force

application device, the free segment was mentally rotated through the

entire range of notion. The resulting force versus angle curve was

recorded on the x-y plutter. The desired torquv versus angle

characteristics were then determired by mesur4.ng the length of the

mobile segment lever aru and multiplying this length by the measured

force.

34

V4

Figure 13. Shoulder Abduct ion- Adduct ion Tt! Ft Setup

Generally, the curve displayed a flat region of joint torque with angle

of rotation within the free rsae of motion, that range which

experiences little or no resistance. A summary table of the free range

of motion of each joint is found in Table 7. The interference of soft

covering or soft stops generally increased the resistance in a nonlinear

manner. This nonlinearity further increased as the joint hard stop was

reached. The direction of notion was reversed to measure the unloading

characteristic and the loading characteristic in the opposite direction.

While the polarity of te curves may vary depending on the polarity of

the instrumentation for a particular test, the curves could be compared

by identifying the maximum ranges of notion and the corresponding

applied terquaL.. To define the curves. arrows depict the direction of

loading and unloading of the joint and the extreme ends of the curve are

labeled with extension, flexion, abduction, or adduction. The start

positions are also noted.

2.1.4.1.3 Tests

2.1.4.1.3.1 Shoulder

1lexion-extonsion and abduction-adduction movement of the shoulder is

provided by two pin joints. Assuming the upper arm in the anatomical

position. (hanging vertically down with the long bone axis parallel to

the mid-sagittal plane). flezion-extension notion is obtained by

rotating the arm forward and backward while remaining parallel to the

sid-saggital plane. Again assuming the anatuaical position.

abduction-adduction motion is obtained by rotating the upper ars way

from and toward the body while remaining within the frontal plane.

nlexion-xtension characteristics were tested with initial abduction

angles of 0 and 45 degrees. The angles were approximated with the aid

of a goniomter and the abduction-adduction pin joint was tightly

torqued to hold this positio. Abduction-adduction tests were performed

with 0 at' 90 degrees ot flexion.

Abduction-adduction angle ot rotation of 00 flexion was measured by

first positioning the upper torso horizontally and holding it securely

36

TABLE 7

Sumary of Free Jobnt !~Mae of Notion

Joints of Notion Left/Right Seated/Standins Free Rane of Motion

Shoulder sb-ad 0 0 flex right standing 126 degreus

Shoulder 8b-ad 0 0 flex left standing 138 degrees

Shoulder 8b-sd 0 0 flex right seated 120 degrees

Shoulder sb-ad 0 0 flex l..ft seated 98 degrees

Shoulder ab-ad 0 90 flex right standing 117 degrees

Shoulder ab-ad 0 90 flex left standing 114 degrees

Shoulder sb-ad S 90 flex right seated 116 degrees

Shoulder ab-ad 0 90 flex left seated 122 degrees

Shoulder flex-ext 0 0 abd right standing 230 degrees

Shoulder flex-ext 0 0 sbd left standing 174 degrees

Shoulder flex-eat S 0 abd right seated 215 degrees

Shoulder flex-ext 0 0 abd left seated 210 degrees

Shoulder flex-ext & 45 abd right standing 216 degrees

Shoulder flex-eat 0 45 ad left standing 209 degrees

Shoulder flex-ext 0 45 ebd right seated 251 degrees

Shoulder flex-eat 0 45 abd left seated 218 degrees

Elbow flex-ext 0 0 rot right standing 77 degrees

Elbow flex-ext 0 0 rot left standing 77 degrees

Elbow flex-ext @ 90 rot right standing 72 degrees


Ilbow flex-ext * 180 rot right 6tanding 81 degrees

Elbow flex-ext # 100 rot left standing 74 degrees

Elbow flex-eat 0 270 rot right standing 75 degrees


Elbow flex-ext # 0 rot right seated 90 degrees

Elbow flex-ext 0 0 rot left seated 87 degrees

Elbow flex-ext • 90 rot right seated 86 degrees

Elbow flex-st @ 90 rot left seated 86 degrees

Elbow flex-ezt 0 180 rot right seated 84 degrees

Elbow flex-ext @ 180 rot left seated 92 degree.

37

TADLIS 7 (Continued)

Joint IMng Of Notion Let t/Riabt Seated/Standita free Range of Notiont

Elbow flex-ext 0 270 rot right seated no plot

Elbow fie-ext 0 270 -2 lef t Seated 84 degrees

Wrist flex-ext * 0 rot right standing 104 degrees

Wrist flex-ext 0 0 rot left standing 89 degrees

Wrist flex-ext 0 90 rot right standing 105 degrees

Wrist flex-ext 090o rot left standing 86 degrees


Wrist flex-ext 0 180 rot left standing 104 degrees


Wrist flex-ext 0 270 rot left standing 86 degree.

Wrist flex-ext 0 0 rot right seated 123 degrees

Wrist flex-ext 0 0 rot left seated 119 degrees

Wrist flex-eat 0 90 rot right seated 107 degrees


Wrist flex-ext *@180 rot right seated 122 degrees

Wrist flex-ext 0 IS0 rot left seated 105 degrees

Wrist flex-ext & 270 rot right seated 116 degrees


Knee flex-ext left standing 84 degrees

Knee flex.-ext right seated 90 degrees

Knee flex-ext left Seated 86 degrees

Ankle flex-eat right standing 54 degrees

Ankle flex-ext left standing 33 degrees

Ankle flex-ext right seated 66 degrees

Ankle flex-ext left seated 68 degrees

Hip flex-ext right standing 78 degrees

Hip flex-ext left standing 27 degrees

Hip abd-sdd right standing 47 degrees

Hip abd-add left standing 60 degress

Hip flex-ext right seated 0 degrees

Hip flex-ext left seated 0 degrees

Hip abd-add right seated 0 degrees

Hip abd-add left seated 0 degrees

38

kwith straps placed across the thorax. See figure 13. This position of

the thorax was chosen to insure that the abduction-adduction axis of

rotation was parallel with the gravity vector. The upper am was

attached to the thorax with the shoulder joiz loosely torqued. An

interface fixture, designed to fit the head of the hex bolt, held the

potentiometer shaft directly in line with the joint ais.

A load cell. whose axis was fixed horizontally and perpendicular to the

long bone axis of the upper am. was used to measure the applied force.

An attachment which fit the elbow joint clevice was designed to properly

orient the load cell with respect to the 1 .ng bone. The potentiometer

recorded the angle of rotation as the upper arm was manually rotated

through the full range of motion.

Figures 14 and 15 show the results of testing the left and right

shoulder joint of both manikins. Compared to the seated manikin, the

range of motion was about 50 degrees higher for standing manikin. The

tests also indicated that due to the soft covering interference, the

total range of motion was a function of the force applied to the upper

arm for both manikins. The free range of motion, that is the range

which experiences no resistance, was larger for the standing manikin.

indicating that the differences in the range of notion must be the

structural characteristics of the manikins.

Starting from the anatomical position, the joint experiences resistance

at about 70 adduction due to the soft covering before a -hanical

hardware provided a hardstop. At abduction angles of 120 to 1350.

interference of the acromion covering became increasingly pronounced

with increasing torque. It is believed that, because of the soft

covering interference, the hard mechanical stop was not reached in the

test.

The test setup for the 900 flexion abduction-adduction joint test is

illustrated in Figure 16. At 900 flexion. the abduction-adductiro tests

were conducted in the same manner as the 0o flexion abduction-aeduction

tests.

)9

RIGHT SHOULDER

40

zL f -ii -.-

RIGHT SHOUI R

t . TI.

104.3 lb It

' I )

itm

LEFT SHOULDER

FIGURE 15 SHOULDER ABDUCTION-ADDUCTION AT 0 FLEXION FOR SEATED MANIKIN

41

Figure lb. Shoulder Auction-Adductio-. At ')OU Fleio Test Settup

42

The resulting curves for the 900 flexion abductioo-adductiou tests are

presented in Figuret 17 and 18. Free range of motion were sligbtly

larger for the standing manikin as were the total rafne of motion values

indicating a structural difference between the two marAkins. The range

of notion for adduction motion revealed soft stops due to skin. to skin

interaction of the upper aun with the soft covering of the upper

thoracic region.

The flexion-extension tests perforued at 0 and 45 degrees initial

adduction angles required the use of a fixture designed to track the

joint rotation of the flexion-extensios joint axis. As illustrated in

Figure 19. the potentiometer sh&fr was centered on the joint axis with a

V-shaped attachment. Th. test was pgrfomed with the thorax securely

strapped and supported while on its side.

Figures 20 through 23 display the -esulting joint resistance versts

angle of rotation curves foi the flexion-extension. Range of motion

values were similar for the 0 cr4 450 position, for right and left

3oints and for both manikins.

43

* 1

RIGHT SHOULDER

H--- 1

*

sLEFT SHOULDER

FIGURE 11. ShOtLDER ABDUCTION-AD$CTION AT 900 FLEXION FOR STANDING MANIKIN

44

Sim

S- --

RIGHT SHOULDER

104 1 lb in

LEFT SHOULDER

FIGURE 18. SHOULDER ABHUCTION-ADDUCTION AT 90 FLEXION FOR SEATED NIKN

45

%I

Fique 1. Shuldr Fexio- Ftensionat 0 Abucton Tst etC464

SI I.... i

. ~ ~-- . __ ,.. ..

-- I- -

RIGHT SHOULDER{ -I' f- 1'±4'

.. I.. -

LEFT SHOULDER

FIGURE 20. SHOULDER FLEXION-EXTENSION AT 0° ABDUCTION FOR STANOING IMANIKIN

4;

, .)l. u _ _ _I ..... -.. -"

I .I t

1- . t II1.1

-4 I -, -

RIGHT SHOULDER

104. b ... FUSION

. .i - 4..

- -I - ,---i

LEFT SHOULLU

FIGURE 21. SHOULDER FLEXION-EXTENSION AT 0* ABDUCTION FOR SEALED MANIKIN

48

R4-

, , 1 T, T

±twiVK' "RIGHT SHOULDER

I _

- .. . ' I * "

LEFT SHOULDER

FIGURE 22. SHOULDER FLEXION-EXTENSION AT 45* ABDUCTION FOR STANDING MANIKIN

4q

S IT' , .3 lbis--... I --. .L __.HI

- 1 1/4

i t --J-2

Ing

t 4 *.... . . .

RIGHT SHOULDER

I04,1 lb I

-4---- -,---- - - -.. - ---- -

I - ' _ _ _

FIGURE 23. SHOULDER FLEXION-EXTENSION AT 450 ABDUCTION FOR SEATED MANIKIN

50 _-

IiI

2.1.4.1.3.2 Elbow

The elbow joints allow relative rotational motion of the forearm with

respect to the upper arm. Flexion-extension movement is provided by a

pin joint while a sleeve joint allows rotation about the long bone axis.

The medial angle of rotation is a full 360 0 for both manikins while

flexion-extension motion of the forearm is limited by hard stops and

soft covering interference. The flexion-extension joint torque

characteristics were tested with initial angles of 00. 900. 1800. and

2700 of medial rotation (rotation of the forearm toward the body). With

the forearm attached, the upper arm was clamped securely to the holding

fixture aligning the flexion-extension joint vertically as illustrated

in Figure 24. The elbow joint was placed at the edge of the holding

fixture where full extension of the forearm would be possible. Using

the fixture designed to fit the head of the bolt. the potentiometer

shaft was aligned with the joint axis. The load cell was attached to

the distal clevice of the forearm, aligning the load cell axis

horizontally and perpendicular to the forearm long axis. Using the load

call to apply the load, the forearm was rotated through the full range

of motion.

The resulting plots of flexion-extension tests for all four angles of

medial rotation are presented in Figures 25 through 32 for the left and

right elbow joints for both manikins. Range of motion results were

higher for the seated .nikin. Generally. for both manikins during the

0 degree rotation flexion-extension tests, extension was limited by hard

stops at about 15 degrees. Flexion generally had a free range of motion

of about 90 degrees. At this point, increasing resistance to free

motion was produced by bot covering interference of the upper arm with

the forearm. For the 180 0 medial rotation flexion-extension tests, the

ranges of motion are similar to those found with a 00 rotation angle for

both manikins. For this set of tests, tht soft skin interactions during

flexion provide a nonlinear torque response and interaction with a hard

stop is not obvious.

For the 900 and 2700 initial medial rotation flexion-extension tests.

the ranges of notion were again larger for the seated manikin. Free

Figure 24. Elbow~ Flexion- Exten,; on at 900 M~edial Potation Test Setup

9S.4;lb Is

ISART,

liTtuisoN RIGHT ELBOWJ

94 lb in

LEFT ELBOJW

FIGURE 25. ELBOW FLEXION-EXTENSION AT 0' ROTATION FOR STANDING MANIKIN

I I Mu

7-7

RIGHT ELBOW

LEFT ELBOW

FIGURE i. ELBOW FLEXION-EXTENSION AT 90* MEDIAL ROTATION FORSTANOING MANIKIN

INOO

, _

RIGHT ELBOW

FLEIJON

90.4 b,

Ia

II... ...... .IS 11? .' T ... ..

IX~ O~ f I

LEFT ELBOW

FIGURE 27. ELBOW kL-XION-tXTENSION (,T 180" MEDIAL ROTATION FORSTANDING MANIKIN

I I

ii

RIGHT ELBOW

9.4 lb In i

utvfr.:om LEFT ELBOW

FIGURE 28. ELBOW FLEXION-EXTENSION AT 2100 MEDIAL ROTATION FORSTANDING MANIKIN

ft -~.-...-- - --

- 4 1

RIEHT ELBOW

S ItI

I..

L E F

L O

FIG RE 29. EL OW LE IO- E SI ON AT ", O~ IO O E TE A I I

' t

RIGHT ELBOW El1i

I~o

tx mnwl WM.Glb t.

I Is rLIN vI

LEFT ELBOW

FIGURE 'jO, ELBOW FLEXIOrN-EATENSION AT 90" MEDIAL ROTATION FOR

SEATED MANIKIN

I I

RIGHT ELBOW

E I

I[wl

Io n

9e 4 lb

_ I

1*

I 4 - -

.+ .. .4 .- '--- - c

RI H

TLBr

LEFT ELaOW

FIGURE 31. ELBOW FLEXION-EXTENSION AT 180 MEDIAL ROTATION FORSEATED ANIKN

59

°" II _ _

: i 1

LEFT ELBOW,

FIGURE 32. ELBOW FLEXION-EXTENSION AT 2700 MEDIAL ROTATION FORSEATED M4ANIKIN (NO RIGHT COMPLIMENT)

6--0

range of motion values were al so greater for the seated manikin

indicating a structural difference betweer the two manikins. The

extension bard stops were not as obvious as those found in the 00 and

lao0 medial rotation flexion-extension tests due to increased soft

covering interactions.

2.1.4.1.3.3 Wrist

The wrist pin joint allows flexion-extension motion of the hand eiitb

respect to the forearm. An additional sleeve joint allows the hand to

rotate about the long axis of the forearm. Flexion-extension notion was

tested with 00. 900, 1000. and 2700 of medial rotation. lllustrs'qva in

Figure 33 is a left wrist at 900 medial rotation during a

flexion-extension test. The forearm was used as tbe rotating segzet

since the elbow clevice is more easily adapted to the load cell. A

rubber wedge, wbich fit the contour of the pals. was used to assist in

rigidly securing the band to the support structure.

The hand was positioned so that the wrist joint axis was oriertedtvertically to eliminate tbe effects of gravity on the rpplied torrue.The potentiometer shaft was directly alibied with the axis through a

fixture designed to fit the head oi the bolt. The load cell was

attached to the proximal end of the fortarm with a rod desigr.ad to fit

the clevice.

The resulting plots of the f Aezion-extension testb for left and right

$ wrist joints of both manikins are found ir, t'igures 34 through 41. Rang

of noticn results indxi.ete significant differences betveen thse tv,

manikins, but relative consistency tot a iven manikin between left aniJ

right joints. The seated manikir generally sh,.bed a total range tf

notion 40 to 50 degrees greater then tlhe itanditg L.dnxkLn. For tg'e~t-

vats. the larger torque values resulted i i= aer~y ranges of motion.

indicating that the u):ferences in the raigeit )f motion are a fun(tion

of the extent to which soft coveri:.g 0i thc forisum ws co&presse; by

the pals of the hand. Slopes of the force/ ,,oation curvev near tie

limits of travel for the seated mankir. aj..ear tc P larger than ,iote

fi

Figure 3.Wrist Flexion-Extension at 900Medial Rotation Test Setup

62

IM l,,t

* I kci

I 1

IS.lb,

o3V

4£4 i lb

ST F1Y

-I

LEFT WRIST

FIGURE 34. WRIST FLEXION-EXTENSIUN AT 0° ROTATION FOR STANDING MANIKIN

." •~W I' "i ,,,

RIGHT WRIST

r /bTJ~

I...............

64

RIGHT WRISTITEJUSION

46 4 lb

FiLlK LEFT WRIST

FIGURE 36. WRIST FLEXION-EXTENSION AT 180* MEDIAL ROTATION FORSTANDING MANIKIN

S,

- ERIGHT WRIST

i":

iSJ1.4 Iht Is - -

SWT

- -- -i~ ---

LEFT WRIST EitEwtO

FIGURE . wRIST FLEXION-EXTENSION AT 27UO MEDIAL ROTATION FOR

STANDING MANIKIN

If66

*~ l S'b ill

RIGHT WRIST

Rat

LEFT WRIST

FIGURE 38. WRIST FLEXION-EXTENSION AT U" ROTATION FOR SEATED MANIKIN

RIGHTI WRISFFIL

RIGHT WRIST

FICUE 3. WISTFLEION-XTESIO AT9-l MEDAL OTTIN.O

SETE 0AII

I~ L

RIGHT WRIST

LEFT WRIST

FIGURE 40. WRIST FLEX ION-EXTENSI ON AT 180'3 MEDIAL ROTATION FORSEATED MANIKIN

69

Ii~Ii

FGIU. i-E I AT

SEATED MANIKIN.

7 0

Liit Z'1 itLEFHT WRST

FIGUE '. WRST LEAIN-ETENION T 2OU MDIA ROTTIO FO

SETE MANKI

- Im dk4~bhl -,I* '- l7-

found with the standing manikin which indicates that the wrist was

rotated closer to the flexion hard stop.

For the 00 and 180o medial rotation flexion-extension tests, the

extension range of motion was governed by an obvious hard stop as is

evident in the plotted results. The 900 and, to some extent, the 2700

medial rotation flexion-extension plots, however, display a more

nonlinear response at the maximum deflection of extension, a result of

soft covering interactionr.

2.1.4.1.3.4 Knee

The knee joint, a pin joint, alLows flexion-extension notion of the

lower leg with respect to the upper leg. With the upper leg securely

strapped to the holding fixture and the knee joint axis oriented

vertically, the lower leg was rotated through its range of motion as

illustrated in Figure 42. The knee joint was positioned at the edge of

the holding fixture to allow a full unobstructed range of extension

Amotion. The potentiometer vs directly aligned with the knee axis andthe load cell wan attached to the diztal end of the lower leg with an

attachment fabricated to fit the ankie joint. With the load cell axis

positioned horizontally and perpendicular to the axis of the rotating

sepent, the lmer leg was manually :otated through the full range of

motion.

The resulting data plots are found it, Figures 43 and 44. While the

right knee of the rtanding manikin was not tented, two flexion-extension

tests of the left knee were performed on the standing asnikin tw,

indicate the degree to which the range of aotiot is a function of torque

applied to the knee joint. The plot displaying the larger range of

motion also Uhows a greater force apliied to the load cell. Al outh

the free range of u.otiort and extension angles appear similar, the ar-gle

of flexion rotetion iu iccreabed with increasing load. It is noted that

the rangos rf motion were similar fox both the starding or.d seated

manikin.

71

Figure 42. Kn** Flexion- Extension Test Setup

72

LEFT KNEE

FIGURE 43. KNEE FLE 'ON-EXTENSION FOR STMAD!NG MA4NIKIN (NO RIGHT COMPLIMENT)

73

..-..... ..... ~ ~ -

RIGHT KNEE

IN

LEFT KNEE

FIGURE 44. KNEE FLEXION-EXTENSION FOR SEATED MANIKIN

7,4

2.1.4.1.3.5 Ankle

The ankle pin joint allows plantar flexion and dorsiflexion of the foot

with respect to the lower leg. The lower leg was used as the rotating

segment and the foot was securely claped to the holding fixture.

orienting the joint axis vertically. See Figure 45. The potentiometer

shaft was aligned with the ankle bolt and the load cell was attached to

the proximal end of the lower leg. the rotating segment, and was

positioned horizontally and perpendicular to the long bone axis. Both

left and right ankle joints were tested on each manikin.

The resulting joint resistance versus angle of rotation plots are

presented in Figures 46 and 47. Range of motion values indicate

consistency between left and right joints on each manikin, but a 15 to

30 degree larger range of notion for the seated manikin. These

differences do not appear to be a function of torque, but are due to

structural differences betweetr the manikins. For all of the resu2ting

ankle curves, the stops which govern both flexion and extension appear

to be due to hard mechanical stops.

2.1.4.1.3.6 Hip

The hip joint, which i- a ball and socket joint. allows moves ?nt in the

flexion-extension. abduction-adduction. and rotational directions. For

thib joint, the resistance of the ball to move within the ball and

socket joint is determined by the tightnec of cap screws holding the

covering plate. For a joint loosely torqued. however. resistance is

primarily provided by skin to skin interactions and hard stops. The

seated pelvis is molded such that the upper leg is in a 90 degree

flexion orientation. The standing pelvis is molded to allow free

rotation in the flexion-extension and abduction-adduction directions.

The flexion-extension dnd abduction-adduction teuts were performed at a

90 degree fVexion starting position for the seted manikin and in the

anatomical standing starting position for the standing manikin.

75

U.k

FiquVO 45. Anki. Flexion-Extonsio" Test Setup

76

RIGHT ANKLE

30' Exit SION

LEFT ANKLE

FIGURE 46. ANKLE FLEXION-EXTENSION FOR STANDING MANIKIN

77

If

sI I ~ ~~ IA

RIGHT ANKLE

V liAI

11

LEFT ANKLE

FIGURE V7. ANKLE FLEXION-IXTERSION FOR SEATED MANIKIN

7h

Since the ball and socket joint is centered within the molded pelvis. the

pot used to measure the rotation angle was centered over the joint and

was manually rotated to follow the joint rotation. For

abduction-adduction tests, the seated and standing pelvis were

positioned upright, supported, and secured as shown in Figure 48. The

load cell axis was positioned horizontally and perpendicular to the

upper leg long bone axis and was used to manually rotate the leg through

the range of motion.

For the flexion-extension tests, the pelvis was positioned on its side

to orient the joint axis vertically as shown in Figure 49. The

potentiometer axis was again held above the joint and positioned

coaxially with the axis of rotation. The pot was rotased manually to

follow the rotation of the upper leg. The load cell axis was positioned

horizontally and perpendicular to the upper leg long axis and the load

cell wos used to manually rotate the upper leg through the range of

motion. Flexion-extension and abduction-adduction tests were conducted

on the left and right joints for both manikins.

Joint torque versus angle of rotation results are presented in Figures

50 through 53. Range of motion values from the seated manikin are as

such as 126 degrees smaller than the standing manikin. These

differences are an obvious result of mechavical structure differences

and the skin to skin interaction of the seated pelvis. The seated

polvis has an extended hip flesh which surrounds the uppermost part of

the upper leg and. thus. greatly restricts the range of motion for both

flexion-extension and abduction-adduction movement. The curves dispioy

no tree range of motion fo'r the seated manikin. The standing manikin.

however, is not restricted and allows a limited amount of free range of

motion before reaching soft coverinU interference.

79

101

Figu~re 4S. Hip Abduct ion-Adduct ion Test Setup

80)

811

ki

stoo

- .-- : -N

RIGHT HIP

II

I I

LEFT HIP

FIGURE 50. HIP ABWUCTION-ADOUCTION FOR STANDING MANIKIN

82

iI 1A I i

RIGHT HIP

LII f- - I- A

I- t§ 7 'k

LEFT HIP

FIGURE 51. H1IP FLEXION-EXTENSION FOR STANDING MANIKIN

83

II i1

4 I

- I-l

....I_.. - _.- __

II

i RIGHT HIP

4r

I ,

I I, ii..

•1 -

* LEFT HIP

FIGURE $2. HIP AIDUCTIOK-AMOUCTION! FOR SEATED MANIIKIN

84

1~- I

- *1

~-I

RIGHT HIP

K; .1

-. _ j- I- __ _

LEFT HIP

FIGURE 53. HIP FLEXIOK-EXTENSION FOR SEATED MANIKIN

85

2.1.4.2 Determination of Joint lange of notion

he rang* of motion of a joint is detemined by hard stop@. soft stops.

and soft covering itreractions. The bard stops provide definite notion

ilmitatio s of a joint, while the soft stops or soft covering

interactions prevent free rafse of motion and produce resistance as 8

function of angle of rotation. In the latter cases a all defined range

of motion value cannot be determined as this value becomes a function of

force applied to the rotating segi et. The higher the torque applied.

the more the skin or soft stop defem end the greater the range of

motion. The slope of the force/deflection curve provides some

indication of how close to the full range of notion the joint has been

moved. As the slope approeches infinity, where no amount of applied

torque* increases the angle of rotation. the value of the rangse of

aotion at this point is the maximum. for most of tb experimental

curves developed, however, the maxim range possible vs. not reached.

The values for the Toge of notion differed between the left end right

joints for a single manikin and also from manikin to manikin. For

example, the joint characteristic curves o( wrist flexion-extension at

00 medial rotation joint tests for the standing end seated manikin.

shown in figures 34 and 38. show that the free range o, motion, that

range which experiences little or no resistance, is aproimately 300

greater for the right joint than was easured or, the left joint of the

standing manikin. Additionally, the values for extension beyond the

free range of notion are about 100 greater for the seated manikin than

the values measured for the standing manikin. The larger values for the

seated manikin suggest a structural difference between the two manikins.

2.1.4.3 Determination of the Characteristics of the Lumber

spine

The olded rubber lumber spine Ol 'ws flxion-extension and lateral

movament of the thorax with respect to the pelvis. Deflection

resistance of the spine is dependent upon the cheracteristics of the

natural rubber, the shape of the spire, and the strengtb of the steel

86

cable or cables. which are centered axially through the spine. The

seated manikin spine is curved to simulate the seated posture while the

standing manikin spine is a straight cylinder. Both spines were tested

Cto determine their respective, stiffnmess properties.

2.1.4.3.1 Spine of Standing Manikin

The straight spin* of the standing manikin was statically tested in

flexion. Since the spine is cylinderaally symtrice the bending

stiff nesses in flexion, etension. and lateral directions are the ame.

T wo tests woe peformed to evaluate the degree of repeatability in

determining the mmnt versus angle of deflection curve. These tests

vote conducted about an hour apart to allow a recovery period for the

rubber to release its stored energy from the previous test.

In the test setup the spine was positioned horizontally and the base of

the spine ws3 securely clamped to a holding from*. The top of tbe spine

was attached to a cable through which the load was applied. This test

setup is illustrated in figure 54. A load cell was attached to the

cable and the applied load was measured and plotted against the angular

rotationI of the tip of the spine. measured by an inclinometer. Section

22 -- >1. describes the method used to convert the measured force to

the applied somet at the base of tbe spine.

The results of the tests are presented in figure 55. Shown are plots of

applied moment versus angle of rotation. As can be seem from the plots.

the straight spine displayed a linear response with applied moment Over

the angle of rotation tested which results in a stiffness value of about

48 in-lb/deg for bending in all three directions. To further quantify

the spine stiffness, the spine should be deflected beyond 30 degrees.

Although the straigiat spine bad the ane bending stiff msses in all

directions. tho abdounl'. insert provides a stiffening effect in tbe

flexion and lateral directions when inserted in the" manikin. To

detemine this stiffening ef fact. the spine was sthtically tested with

87

LUAU CELL

Figure 54. Static bending Test q5t~ for tbe Straight Spino

0~ -

40

4

04

0.4

44

00u4 4~

40

4

3, beJr

S 9f

and without the abdoemn. As illustrated in Figure 56. the lumber spine

was tested while attached to both the pelvis and thorax. An aluminum

cavity located on the backside of the pelvis slloed the assembly to be

directly bolted to the frame. The nut on the spine's steel cable was

torqued to 10 in-lb to comply with (". standards and the tests were

spaced about an hour apart to o- o the rubber a recovery period. A

pneumatic piston was used to incewAentally load and than unload the

spine throueh an attached flexible cable. A Strainsert 1000 lb.

single-axis load cell was used to monitor the applied load. Racordin"

deflection with an inclinometer, the load cell readings were measured to

provide moment versus deflection curves. Only the loading portion of

the curve was used to determine stiffness properties. Two tests were

perfortd, both with and without the adomnl insert, to determine the

repeatability of the test. Presented in figure 57 are the resulting

curves found with and without the abdominal insert. The resulting

stiffness is about 23Z higher with the abdomen in place.

Applying the percent increase due to the addition of the sL -"'

insert to the baseline bending stiffness of the straight spine. .'e

resulting stiffness is approximately 60 in-lb/deS . This stiffness

coincides with flexion and lateral movement as the abdominal inse~t

interacts with the spine during bending in these two directions. The

stiffness of 48 in-lb/deg is used for extension since there is no

interaction with the abdjainal insert during bending in this direction.

2.1.4.3.2 Spine of the Seated Manikin

.le curved spine positions the manikin in a seated posture. This spine.

although cylindrically shaped, is curved and so exhibits different

stiffness characteristics for bending in the flexion. extension, and

lateral directions. All three bending directions were statically tested

for their repective stiftnesses.

figure 58 illustrates the static fleion test setup for the curved

spine. The top of the spine was attached to a cable through which the

load was applied. A loaO cell and an inclinometer were used to measure

90

Inclinomtr

D ~W otm e0L M-

01

figuxe 56. LUinba R~dne Flexion Test Setup with Abdomen in Viece

91

00I 0

cI~O0

0~00

NA04%0

3333

00

,, ..

(NI-W1) IN34OW

92

LOAD CELL

Figure 58. Static F exion Tesc Setup for thb Curved Spine

93

the applied load and the angle of rotation of the spine, respectively.

These testsa were also conducted in a similar manner for extension and

lateral directions and were spaced about an hour apart to allow for a

recovery period.

The method used to resolve the measured force to the applied load at the

base of the spin* is described in Section 2.1.4.4.1.2. Plots of the

data are present.d in figure 59 through 61.

These cutrved spine static bending tests were perf ormed over about 60 of

inclination. In tests performed with the curved spine attached to the

thorax and pelvis it was noted that the force-deflection characteristic

softens slightly with increasing angle. Due to this softening, the

stiffness for small angles is greater than that for large angles. Since

a linear approximation for the stiffness over large angles (200 - 300)

was used, a 16.22 of adjustment was made to the slopes in figures 59

through 61.* This adjustment was obtained from the force-deflection

curve without abdominal insert in figure 62 by comparing tbe slope for

points up to 60 to the average slope over the full cuirve. Testing the

curved spine to deflections of 20-30 degrees would verify these

adjustment figures. Testing the curved spine beyond the 300 deflection

would further quantify the spine's nonlinear characteristics.

To obtain the stiffening effect of the abdominal insert, teA curved

spine wos also tested while attached to both the pelvis and thorax with

and without the abdomen as described in Section 2.1.4.3.1. The

resulting moment versus angle of rotation cuives are presented in Figure

62. With the additiun of the abdomen, the stiffness values appear to

increase by 131 over that of the basic spine. Applying this percent

increase to the stiffness values of fleuion ard lateral bending to

account for the interoction with the abdominal insert during bending in

these directions, stiffness values f or flexion and lateral bending are

230 in-lb/deg and 340 in-lb/cleg. respectively. The stiffness for

extension is 150 in-lb/deg.

94

1 4 0 0 o

a 0

1 2 0 0 -0

aAO0S1

0 0 0 - -

800 -- A

MOMENT(LB-IN)

0600

400 A-TEST #1

0-- EST #2

200 -

1 2 3 4 5 6

ANGLE OF ROTAnON (DEGREES)

Figure 59. Curvea Lumbar Spine Flexion Test

95

1800 -

1400 0OA

A1200 0 0

MOMENT 1000(LB-IN) o

A

0

400 A - TEST #1

0 - TEST #20

200

I- I - I 1 2 3 4 5 6 7 8

ANGLE OF ROTATION (DEGREES)

Fiqure 60. Curved Lwbr Spine utenvion Test

96

02000i oA

00 A

low

A

1600A

1400

1200 0MOMENT A(LB-IN) 0

1000 A

600 A

0

600

A

400 A- EST I1

0- TEST 92

200

A

Ii ! I I1 2 3 4 5 6

ANGLE OF ROTATION (DEGREES)

Figtre 61. Curved Lumbar Spine Lateral Pending Test

97

4 0

03

0 0

0 0

44J

74

ama

98

2.1.4.4 betendmetiom of the Characteristics of theNybrid 3111 Hecl

The Nrybid 11I mach allows twrieml. fleziom, extension. an lateral

noti.. of the head with respect to the thora. Mhe neck is constructed

of alumiam plates. repremeatiag vertebral elements. bonded togetherwith alterate sections of butyl elastamer. the axial stremgtb of the

neck is embaced by a steel cable which is blted thremgb the center ofthe mack. Saw cuts througha the anterior side of the neck provide

reduced ev'emsiom bending tesistmce, without affecting f lexion. Static

and dynamic tests were performed on the necks od the standing anod seated

manikin.; to detemine their stiffness characteristics

2.1.4.4.1 Static Tests

2.1.4.4.1.1 Test Procedure

In order to conduct tests of the neck to determine the bending

stiffnesses in the flexion. extension. and lateral directions, the neck

was loaded to obtain a moment versus anglt of deflection curve in the&mne manner as the tests of the lumbar spine. With the base of the neck

rigidly secured to the holding frame in a horizontal plain. the top of

the neck was attached to a cable through which the load was applied.

figure 63 illustrates the test setup for the static neck test. A load

cell was attached to the loading cable to measure the applied load and

the angular rotation of the element was measured with an inclinometer.

The method described in Section 2.1.4.4.1.2 was used to convert the

measured force to the applied moment at the base of the neck. Two tests

were performed for each configuration of both necks allowing an hour in

between tests for a recovery period.

2.1.4.4.1.2 D)ata Reduction Procedures and Results

The data reduction procedure outlined herein was that used to reduce the

test data obtained for the lumbar siines as well as the neck since all

teots were conducted usint the est test &etup and procedure.

99

LSUI CELL

Figure 63. Static Sending Test Setup for the P'eck

100

T

Auming that the neck or lumber defosatio acts like that of a

coatimous beso6 the resulting deformation can be approximated as a

circular arc. Figure 64 illustrates the force components and

defomation geometry. The angle 0 is the angle of the cable with

respect to the vertical or perpendicular to the long axis of the test

article. This mogle did not change more than one or two degrees and so

was easmed a constant. The angle (e is the angle of the deflection of

the neck and it x and a y are the deflected borizontal and vertical

locatios of the top of the neck respectively. F. is the arplied forceread directly f rm the load call and Fy and Ex are the resultant f orces

in the vertical and horizontal directions. Referring to the free body

diagram in Figure 65. the arc length, L. is proportional to the

circumference of the circle, C, as the angle of deflection, 0 , is to

the angle 24r. Substituting the equation for the circumference of a

circle, the resulting relationship is RrL/* . Using geometry.

cos@ =1r y/D

tS4"y = D~COSO = RO-COSO ) = L(I-CosO); If x = RI@ = SV

*Therefore. the moment transferred to the base of the neck. rr point 0.

is

No= 4F y & yFx

=45N L~ 'kW DS +O-CO Q)SINJO

The moment deflection curves developed from the test data are preLented

in Figures 6b through 68 for flexion. extension, and lateral testG of

both necks. for the angleq of deflection tested (30-500). the necks

displayed li.aar reaponseE. Deflecting the necks to 70 degrees or more

would probably display stiffening at the neck's risponse. The two testv

for a given range of motion on each neck ws-ve averaged to provide the

stiffnesses presentea in Table 8. As expected with the ;resence of the

am cuts. extension stiffness values are about 1/2 of th, stiffnessfound with flexicn or ateral soviwer., for bot necks. Resulting

st..ffness for the sea:ed manikin in the flexion, extension, and lateral

Siti

Fiqur* 64. Force COqoMn~nt and Deformation Geometry Diagram

102

103

@0 C4

4. ad

lii C1

000 a

C41C

C4 .

00

+ 44w

4.00 0

4.

+00

44 w

4)

400

C44

194

Ia

* 3*4Is~.

*

a g333 5

3* lIEU I4* liii I* sail

* Ia I

400* 3S

.4I

a a0

* '"4

a "-I

4 a zU.U, V

0* aa 4

4 30

.4 VC

9 3 4

1 0'a 5

* 354

0 4 cn

b 0* 4*

44,

* 130 C

0.4 a ".4U,* C* 4,

'a4%

94 * 14 9

6

~0

4,

.40'

06**

9*

* 0

9

U,9

U.

'II''

I;I C~

0 0 ( - '4

4 *1

00~~ o'

0+ 00

*

C44

40

0 U9

000

406

stiffnesses for the seated manikin in the flexion, extension, and

lateral directions were 32.71 in-lb/deg. 15.55 in-lb/deg. and 28.40

in-lb/deg, respectively. Stiffnesses for the standing manikin neck in

the flexion, extension. and lateral directions were 34.84 in-lb/deg. and

13.817 in-lb/deg. and 24.565 in-lb/deg. respectively. Comparing

stiffnesses between the two necks, the seated manikin neck is stiffer in

the extension and lateral directions, but less stiff in flexion.

2.1.4.4.2 Dynamic Tests

2.1.4.4.2.1 Test Procedure

Dynamic tests were performed on both Hybrid III necks to provide

stiffness properties under dynamic loading. These tests were performea

in flexion. extension, and lateral directions. Positioning the neck for

an extensicn test. *4 illustrated in Figure 69. entailed rotating the

neck horizontally with the anterior side upward and securely clamping

the base of this element to the holding frame. A large disk-shaped

weight, weighing several times the weight of the neck, was bolted to the

top of the neck, causing an initial extension angle of rotation of about

10 degrees which resulted in the separation of the saw cuts. An Entran

accelerometer was placed on the top of the weight and monitored by a

storage oscilloscope. Manually disturbing this assembly resulted in

decaying oscillations that were recorded with the oscilloscope and

analysed to obtain the natural frequency and damping characteristics.

The oscillatory deflections did not close the saw cuts, and therefore, a

nonlinear response, such as a combination of flexion and extension

motion was not observed. A number of tests were performed for each

configuration on both necks. Flexion and lateral tests were performed

in the same manner with the anterior side of the neck positioned

downward and on the sides respectively. Torsional tests were performed

with the neck oriented vertically.

107

Accelerometer

Oscilloscope

Figure 69. Dynbamic Fbtensiozi Test Setup for the P~eck

108

I.2.1.4.4.2.2 Data Reduction Procedure and Results

xThe neck stiffnesses obtained from the dynamic tests were calculated

from the natural frequencies assuing the neck to be a cantilever beam

with a large ass attached to the end. Given the mass of the weight and

neck, the stiffnesses were calculated using the foruula

" k or k = wn2 (4+0.23m)M-0. 23&

where N = mass of tb- diska = ma3s of the neck

Vn = natural frequencyk r stiffness

Several tests under the same conditions were performed with natural

frequencies differing by no more than 31. Resulting stiffnesses for the

seated manikin neck in the flexion, extension, and lateral directions

were 66.68 lb/in. 27.111 lb/in. and 61.49 lb/in, respectively.

Stiffnesses for the standing manikin neck in the flexion, extension, and

lateral directions were 59.00 lb/in. 34.70 lb/in. and 59.29 lb/in.respectively.

2.1.4.4.3 Comparison of Static end Dynamic Test Results

The comparison of the neck stiffnesses obtained from the static and

dynamic tests are presented in Table 8. The dynamic results were

changed to in-lb/des only to directly c-2pare with the static results.

As can be seen from the data presented in this table, the stiffnesses

determined from the dynamic tests are larger than those determined from

tke static tests with the largest differences associated with the

lateral stiffnesses. A specific reason for the differences between the

statically and dynamically derived stiffnesseu was not firmly

established, but it is believed to be associated with the *creeping" of

the rubber when loading is applied slowly. Also presented in the table

art, the damping factors that were determined from the dynamic tests. As

noted the damping is approximately 20Z of critical regardless of the

direction of motion.

109

2.1.4.4.4 Measurement of the, Nodding Block Stiffness

The two rubber nodding blocks are located anteriorly and posteriorly on

top of the head-to-neck adaptor and provide a softening effect during

flexion and extension. Although the neck stiffness plays a primary role

in the dynamic response of the bead-neck system. the stiffness of the

block also contributes to this response. To model the net head-neck

system it is necessary to include the bending stiffness characteristics

of nodding bl ocks.

The blocks were inserted into the head-to-neck adaptor and the

transducer replacemnt or dumy loau cell was attached with the pivot

pin. The base was rigidly mounted onto a fixture. An additional

bracket was mounted onto the transducer replacement with extended arms

on which two symatrically placed pneumatic pistons acted. To produce

bending of the head-neck joint, the pistons provided equal and opposite

offset loads from the joint axis during which the angle of rotation was

recorded. A curve of the nodding block static bending moment vs. angle

data shown in figure 70. The resulting linear stiffness is about 161

in-I b/dag.

TABLK 8

HYBRID III KI.(R PROPERTIS

static Dynamic ZDampingMtgaStiffness Stiffness Difference factor

flexi on- Seated Hybrid 111 32.71 in-lb/dog 39.97 in-lb/deg 22.2 0.20- Standing Hybrid 111 34.84 in-Ib/deg 35.37 in-Ib/deg 1.5 0.20

Extension- Seated Hybrid 111 15.55 irt-lb/deg 16.73 *r.-lb/deg 7.6 0.22- Standing Hybrid 111 13.62 in-lb/dog 20.80 in-ib/deg 50.5 0.22

Lateral-Seated Hybrid 1&1 28.40 in-Ib/deg 36.86 int-lb/deg 29.8 0.20-Standisig Hybrid 111 24.57 in-Ib/deg 35.54 in-lb/deg 44.6 0.20

110

I4

IA

*@

GD

-U

S- S- 6I

444

'44~Ia, .4.4U

04-4

I-

4 0Li a-

q;j'A

4 w4 I

L.

'14c~3

N

II a(NI-Si) JJ43N0W

III

2.1.5 Measurement of the Compliance Characteristics Of 5eg0e0t

ski Covering.

The AIoa model has the capability to account for segment with segment

or sepenut planar surface interactions. In order to perform this

prediction, the compliance characteristics of the selment akin coverings

are required. The physical features of each senmt soft covering can

be characterized by a load versus deflection characteristics. The soft

covering used for the flesh of the manikins consists of a dense outside

layer of polyuretmame or vinyl plastisol molded around a pourous foam

layer of the saw material. As the akin is statically loaded, the vinyl

for deforms such that a hysteresis effect results when the load is

removed. The determination of the compliance characteristics of the

skin covering over pertinent parts of the manikin was the objective of

the tests conducted.

2.1.5.1 Description of Equipment and Techniques Utilized to

Establish Compliance of Skin Covering

The density and thickness of the manikin soft covering vill vary from

segment to segment and also over a given segment. To determine an

average compliance for a segment, deflection measurements vere made at

different locations for that particular segment. If the compliances

were drastically different. as with the front and back of the thora".

then two separate skin compliance functions vere recorded. Exceptions

to this were the hand, foot. and abdomen which were tested at only one

location. All test locations for each segment are presented within the

segment data tables found in Section 2.1.6.2. These test locations were

chosen as segmnt surface areas most likely to contact with another

segment, the steering wheel, seat, or dashboard. Again. because an

average compliance was desired, these test points were located to

include the effects of varying hardware interference as well as varying

soft covering density and thickness.

112

To tet the surface campliame. a pumeuatic piston, mmitored with a

load cell. applied static loads at the designated location on the

sepat under investgetion and the deflection was measured as the

distance traveled by the pisto.. Figure 71. for eample, illustrates

the test apparatus being used in conjunction witt the left foresm. The

point of application throuh which the load was applied was a

saucer-sbaped probe having either I" or 2.50 diameter. The amall and

large probes were used to simulate either a console or steering wheel or

a harness or eat contour, respectively. The large probe was used to

test the thorax. abdomen. buttocks, and uppet leg and the smaller probe

was used for the remaining segments. The test consisted of

incrmntally loading and then unloading the surface while recording the

deflection and load cell reading. The amount of penetration depth was

determined by either the interference of the hardware or the stroke

length of the piston. The tabular data were then plotted to obtain a

load versus deflection curve.

2.1.5.2 Discussion of Results

As the objective of the tests was to obtain an average compliance

parameter for a given fepent, the test locations for different general

areas of a segment were only approximately the sne for the sane

segments of the two manikins. It is noted that the degree to which

underlying segaunt hardware resisted the deflection produced different

stiffening effects which were apparent in the date. In addition, since

the density and thickness of both the external and foam skin layers

affect the stiffness characteristics of the skin covering, the

force-deflection data reflected those characteristics. These

differences are reflected in the skin force-deflection curves, presented

in figure 72. which were obtained at one test location on the forearm of

the two different manikins. While these curves are not to be directly

compared in detail, their different characteristics demonstrate the

differences found with varying skin density and thickness and hardwvare

interference. As all of these factors vary f-om location to locatior.

an average compliance was used to represent these properties of the soft

113

Figure 71. Cr..4liance Test Apparatus With Forearm

114

7f

np zto za Cd

z

t %J

CI V)zCY *w -LII ___1N5

covering foir a gives segment. ?be measured data obtained frno the skin

compliance testing are presented in Section 2.1.5.3 for all of the

menikin components.

2.1.5.3 Plats of Skin Cpliance

Figures 73 through 98 present plots of applied force vs deflection of

the skin couerifts for the various manikin segments. From the results

presented in these figures the skin compliance date required for the ATO

prediction program were determined.

2.1.6 Date Tables of Segment Physical Characteristic*

The experimental data describing segmnt properties presented and

discusoed in the previous sections of this report are summarized in the

data Tables 9 through 31 provided in this section. All the data that

were developed for a given segment have been collected and tabulated on

separate pages for easy reference ad use. The description of the

geometric, mass distribution and surface characteristic data for each of

the Hybrid III segments that are presented in the data Tables are

defined in this section. for those segments unique to each manikin

(i.e.. spine. pelvis. and upper legs), soerate tables are presented.

Only ue set of tables is necessary for each of the remaining segments.

which are identical in design for both manikins. for discussions on how

the dat were obtained in these tables, see the appropriate report

chapter.

The following infoirmation is provided for each of the segments in the

Tables:

1. Local 1sf erence Axes. These have been defined to best represent the

symmetry of the segment and are generally based on segment mechanical

features. They are illustrated as a IL, YL and ZL.

2. Anatomical Axes. Identical to segment deinitions in Young. at &I.

[5) end are based on equivalent human anatomical landmarks. They are

illustrated as XA. YA. and ZA.

116

I

LB. LB.seo see,

*00 6o00760 760

* 00 400'

-4004 460300 3g240- 20o

0 .25 . .75 0 .25 .5 .75IN. 0IN.

SEATED MANIKIN STANDING MANIKIN

Figure 73. Skin Compliance Curves for Front of Head

LB. LB.

see,4?00

~5 0Si SW

49e 4061

"361 IS/12G.// -0

a IN. "5 .75 .25 IN. "

SEA1T1) MlIKIN STANDING MANIKINFigure 74. Sk~n Compliance Curves for Back of Head

1!7

LB. LI.175 1?

25 2575 - 75-

0 0. 1 1.5 2 0 1.5 2l~l. IN.

SEATED WAIKIN STANDING M4ANIKINFigure 75. Skin Compliance Curves for Front of Thorax-Position I

LB. LB.

1501 1561

1 S 125t o o , I S O -T

5 50

25 or25

.I 1.5 2 O .5 1 1.5 2IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 76. Skin Compliance Curves for Front of Thorax-Position 2

LB. LB.175 175150 150

12S4 125

75 75

50 56 Iz0

25 25

O.15 1 1 .5 2O.

ININ.

SEATED MANIKIN STANDING MANIKINFigure 77. Skin Compliance Curves for Front of Thorax-Position 3

118

LB. LB.

76 766 66'

46, 4630- 30-J

20 20

et " .1 + . O. 101

IN. IN.


Figure 78. Skin Compliance Curves for Back of Throax

LB. LB.

125 125

166 166

75 75

so 5* 0

25

.4 .6 1.2 1.6 2 .4 .6 1.2 1. 2

IN. IN.


Figure 79. Skin Compliance Curves for Abdominal Insert

119

LB. LB.175 175

156 156!

125 125166 lee

75 73op56 5e0

25 25

e 6 .5 .5 1 1.5IN. IN.

Si[ATED MNIlKIN STANDING MANIKINFigure 80. Skin Compliance Curves for Buttocks-Position 1

LB. LB.175 175

156 150,

£25 125,

75 75S. Se

45 25

a .61t. .5 1 1.5 2IN. IN.

SEATED MANIKIN STANDING MANIKINFtgure 81. Skin Compliance Curves for Buttocks-Posion 2

iLB. LB.175, 175

12, 125

0

425 425 * . .

IN. IN.SEATED MANIKIN STANDING MANIKINFigure $0. Skin Compliance Curves for Buttocks-Position 3

120

to o

so. .lo

LB. LB.

156 1560

125 125

tee Io

75 75

25 25

6 .3 .6 .9 1.2 1.5 0 .3 .6 .9 1.2 1.5IN. IN.

SEATED MANIKIN STANDING 1ANIKINFigure 83. Skin Compliance Curves for Upper Leg-Position I

LB. LB.

125 125

1oo, 10

75 75

252

.3 .6 .9 1.2 1.5

IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 84. Skin Compliance Curves for Upper Leg-Position 2

121

LB. LB.

150 150'

50e 50

6 .15 .3 .45 .6 .73 0 .15 .3 .45 .6 .73IN.IN.

SEATED MANIKIN STANDING MANIKINFigure 85. Skin Cotpliance Curves for Knee-Position 1

LB. LB.250 250

200 20

150 150leo / *10

50 SZ30d

* .15 . .45 .

IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 86. Skin Compliance Curves for Knee-Position 2

122

,2 LB. LB.13 0 350

300 3e0

250 250

200 2e0

10 05

0 .5 15 2 0 .S 1 15IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 87. Skin Compliance Curves for Front of Lower Leg-Position I

LB.

300 30030

250 25O

200asis* ~

56 56

0 a O 1.5 IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 88. Skin Compliance Curves for Front of Lower Leg-Position 2

LB. LB.

350 356

250 2I

200

Is$ 15.1Ise Ise T

IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 89. Skin Compliance Curves for Back of Lower Leg-Position 3

123

La. LB.

125- 125

75 7

0. 5.

2 .25 .5 .25 / 23

IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 90. Skin Compliance Curves for Foot

LB. LB.

1751'1 5 0 1 5 0 1

12! 1251

25 25,

IN. IN.


Figure 91. Skin Complianr.e Curves for Hano

124

LB. LB.

256 230

206 200

so 56so

S .2 .4 .-. .26 . 4 *4. .

SEATED MANIKIN STANDING MANIKINFigure 92. Skin Compliance Curves for Upper Arm-Position 1

LB. LB.300 l6e

1506 4

0~ .2'---- .4

IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 93. Skin Compliance Curves for Upper Arm-Position 2

LB. LB.

136

Ise if#06

a .2 .4 . .8 a . . . . .9 1 1.2IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 94. Skin Compliance Curves for Uipper Arma-Position 3

125

LB.L.

20 200

is lee

0*~tP:% 0 lo 4 484 z 4 6IN tI12 a .2 .4 .6 .8 1 1.2

SEATO MANIKIN STANDING MANIKINtFigure 95. Ski" ComP)11nCe Curves for Forearg-.posttl 0 I

LB. LB.2150 25

200 2004

40 is

0 .2 .4 .6 .8 1.2 0.2 .4 .6. 1 1 .2IN.IN

SEATED M4ANIKIN STAND14G MANIKINFigure 96. Skin Compliance Curves for Foreirm-Position2

126

13. La.250 256

200 20

lOOtoo +

5e0

6 .2 .4 .6 .9 1 t.2 0 .2 .4 .6 . 1 1.2IN. IN.

SEATED MANIKIN STANDING lNAIKIPFigure 97. Skin Complince Curves for Forearm-Position 3

LB. LB.

250 256

200 200

,.A,0 .2 . 4 .6 .9 ~l. .4 ft. .

IN. IN.

SEATED MANIKIN STANDING MANIKINFigure 98. Skin Comliance Curves for Forear-Position 4

127

3. Sgmt Laghcs. These, awe dhe puots use is the aw

definitions. The amalegoss mmkin locations amre scribed snd

ilntroted. an the coordinates (in tachas) are, pueted foe both adms

systies

4. Trawe~setim frm Local Ref erence to Anatmical Ames. This is the

rotatinl cosim trnouintion matrixthat trawstoems vector

cmonns f rum the Local Ref erence to the Anatomical Anne Coordinate

System. Note that thus two cordite system linear off set: can be

obtained fre the Soonest Ladark coordiate puints given in each

tamle.

5. Sepiest Contact Illipsoid Seminss. These are the values (in

inch..) ueed in def ining ellipsoids for the ecco.pamying AM body

description input file with the eaes assumed to be aligne" with the

local ref erence azes.

6. Veiagat in pounds. This is the averae weigjat of segments.

7. Principal flimets of Inertia (lbw-sec 2 -iv). Thuse values are the

swerages of those found from the masikin seWent measurmnts.

8. Transormnation from Principal Anes to Local lteresce Axes. This is

the rotation cosine transformation atriz that transfoiss veztor

components from the Principal Axes to the Local Reference Azes

coordinate systes. Soth of the coordinate systows have their origin at

the center of mass of the sepent therefore there is no linear offset

betveen these two coordinate systems.

9. Surface Force-Melection Chaacterizationi. The surface

force-deflection properties are given by a fifth order polyaosial.

F(D) = Ao 4 AjD + A2!)2 + A3D3 + A 4 + A0D.

where F(D) is the force in pounds, D is the deflect ion in inches and the

Als are the polynomial coefficients. The test points are illustrated

by oue or sore x Is rea the segment.

128

TOLE 9

I a" - "No from n9 ot~i a1 to "ft Sam Cace.

W to e mouo a samLmo

3190. - ma o f lWy.

vales - weool (n IM toee mieI t %am e wfta.

1. "S"6 mcfale do we slowe lateral Suener sov of the &m Semil,2. motLow anWS -SF1 f~lmad ams slamwe. ltel Inferfer up2 tft . Cowes.3. Iff 111ofe, 01msi Etcom.le so ago 0~ev - motel Saft~e op of the on Cowles.4. stt Shoulde Joist Ceate.

.61fl Du Joit aft er.

tWA. cel foreac An$ Is) Anmial A n

1. Not6 Acrinale an w slae 0.16 1."1 -4.06OA 0.0*6 0.002. in ateral evempot bice: lo: SIN" 0.16 1.62 3.4 0.66 0.6 406

3310c t~al ftmral 1,1~l sosa 0.66 -1.61 3.6 6.0 L.13 -L30. 196 sw Joist Csate 0.0 0.06 -S.43 0.6Lo s .11AS. 31ot amv Joist Centel 0.06 0.06 4.94 6.0 1.99 49.01

6.*9Mebn~a6~fatty 0.06 0.O LO 0.00 06 1.69 .6

Trmetf!l from Local "Pf go" t W mWiCI hme

AA .. I 10 4S.99903 06151S1LOW39 0.61519 -8.99981J

%eMRa n esut (lllosig Sl~ai (Ia)

1: t1006 Y: 1.080 1, 6.0

4.66

priaclsel ftwsi of Isertta (166 . Set al14

3: 6.11f V: LO099 2: 0.0116

lriaftnl Meriacimal to Local bfW~min

r 6.9007 408894 *.umi*t 14.6661 .1.~66 LOOM66

A -1.6113 A e 3L& A, * MAN A.3*e1191.10 At -911-233 A 0

129

TABLE 10

LEFT UPPE IM

I ais * 'VM frm t left *mldr tgala. =S lt f 4y1bW Ul,.142 pla - left newq 69tV0iI on tw amDoi.I ads - v a L

"iOsl - secto trn lata Iww*, GPlcem~I to O0 tato.1ants swa m 04141 %MW-a 410h. e~o'11 to N IlS.

Oral% at sonMs

igof- t Acrmall.MSm"-Itriasw fti eCw

4. Left 3*szlaw joint Center.S. Left MOM Joint Centor.

a& fereaco Air@% (4) Anatical Bitt (in)I Ir I I I

I.left Atreeleo aft ese 0.00 *1.17 .4484 0.00 0MD 0.003. Left Lateal ielf~l flICoa1 o t"~ 0100 -14u1.5A4 0.00 0.0 4.36L. Left ftoal 0Ar01 (OtC4Pi0l an 1oese 0.0 1.41 J." 100 -M3 4.3A. Left Skuldsr jetat ceetr COO Ms ..S-.1 0.00 -t. is o.$S. %Aft 1* Joint Center 0.46 906 4."4 0.00 -1."9 .9.816. Left VOW *a comter of srewttl 0.00 L"~ 0.0 l0.00 .1.0 -4.58

Thfoerntip frn LkrA? Sfroe to Batl AIe1

A,% CAI L64993 181,1 -LOWSS .. 018 .*.19961

3: 1.9. f: IA"0 1 6.00O1

I~ .)J f:0.099? 3 0.0116

Traof.0112 fros 'tuclool to ~cI bofrgee Awn

W mqr ace agO ltics caeffutc es !jleS-f to" Nfroo(Ia

%.le.I3I A 3~5U A-s g69 A.*.~s AS As a1*:

TABLE 11

RIGHT FOREARM

I axts *wcw Iram riowt ele. cu~ £ t .Viaplt anist Cono.Vt4 flow9 - l4tft a" of V*mf lot welit Itontom .us.x axis - V L

ori as 4 Of gravity.

Z gts - vener 1" mtse st3ltd to rait.T axis - vecto Irim radial 11,116,1 morgal to z emls. '..1 ants T x Z.oriliq t £ raele.

3

A. R" Q*d41@ - 4t tv* ISuM of tme disel lar*rhl OOV of thme lift eartee. apealmssl,to-tmtres at tme distuince Irm the ater o the. Posterior idlimes.Ri Bght Itmee Sty1.d PrOces -4 4M sle,. ditilul Raial top of thme amn ceeris..

3. tigh Uaia Stpbeid praqs~ 00 uft s-eAwe tilt&! lateral giqe of tme an covertm".4. llqr'. Latel Kert I'ini I tcosdjlo piojoCtoo of Lts lattr~i *no of lime right *low "31s to tme

Surf ace C~1.fe.9. 11;4 t dlal Am~ral £Dtcceijrl@ - grjectim of thmo 8141@W of tne right elbow ais to lime

surf ace coverisq.i. alip. Mom0 joe Catesr.7. Rtfit Wrist Joift Cotte.

Local ImfVeece !it$ (in) ialtcal Ages (14)

I. light Rh14l9 -1.20 1.36 -2.91 0.00 0.00 0.002. light t10e' S11014 Process as sleeve 0.00 -1.11 S.S? 0.00 0.00 *Sat63. RIt Radial Stylole Prs'nS as %1# 0. z0 1.11 S.AY 0.00 .2.13 4_1.34, Clt wetrai *wmrat lot.-sho5le 0.29 0."0 -3.10 1.60 0.44 0.43S. hlySt ftesl himon? EPCW411#yl -0.21 -0.90 .3.69 1.26 2.24 0.006. Right (lb.. Jolp Coer 0.00 0.00 -3.67 1.92 1.38 0.177. 11lo~t Wrist wsat Until- 1.00 0.00 6.07 -0.10 -1.41 -9.09a. Righ" feowee'q t*.tor 00 Gravity 0.00 0.30 0.00 r'. 92 0.37 .3.03

T'ressfof"Io from Local Referece to &dl.Ical favs

u. 169 W .21164 .0."106

5tefat Comtect (Illpu"oIs Usot*ose [to)

I., 1.7S V, 1.779 1 Mm80

weulo, (Ibs)

3.30

Pelecipol VMONS, Of InetlS (lb1% . MK ain

1: 0.1191 1:, 0.1128 Z: 0.0ant

TramtsfM14011o frai OriecIP4l to IoAl 1fereeCO An*%

AL 0.999000 .I00000 0.00m91Ap 0.99097 -0.00000 0.000901

10.02291 MOW00 -0. 911114

qraClt ristics Coefficients kjlatime L044 (16%) to Defitrtion ~n

A0 2391 A1, 107.370 A2 . 3339 A3 * 'A461- &4 -196.)10 A9S 0

131

TMLE 12

LEFT FOEAM

5SLocal !!fLow"e AN$

z amts . vecto free left *elbas Center to tad left .1st cespor.1-I plen - lateral ami of Ite left Wrist fla216 axis.I anls V x 2.

tons - =inte Cf gravty.V

bAatial Jbin

I axis . vector free (A1w Styleld to [email protected] acts . *~mo free Z &It to radISl St.0otd. 'Orton a at radiate.

2

1. Left lagialt at toe Ieve of tre aistal lateral "I* of Efte ellse hrure. akw"Iumatetytonp.tillres of S dtsusce fron tue aeeIa to to Mstartar eldi lees.

2. Left glowr Stylotd froceams onarm sleeve -distal modmlt sp of t"e arm Cewrttg.3. Left badial StYlete d eu P* S S arm %lIwo . istal !atoal osp of the arm CMISt394. Left Lateral feral ICOIgl orejectfon of toe lateral asd of toe left elbm. axis to the

sofie cowriS.S. Left Olmal Umeral tolceseyle .projection of toe M414l 0od of the left elbe axis to the

suerface covering9.6. Left (tb"e Joist Center.1. Left Wrist Joint Center.

Local Reference Ames (in) hutmIcal AMOS (in)A IFV I I i

1. Lef t Radilt -1420 -1.36 -1.91 0.00 10.00 0.002. Lef t Wiser Stjrleld Proceus as sleeve 0.00 1.11 S.S2 0.00 0.00 *4. "3. Left Radial $tjitod Process so sleeve 0.40 .1.11 5.41 0.00 2.13 -8.23A. Left tLateral Himerat Epicoseys 0.2S .0."0 -3.10 1.60 -0. " 0.43S. Lett Oedta 01101111at EVICsd11l .0.23 0."0 -J-69 1.26 .2.24 0.006. LefIt Elbow Joist Caster 0.00 0.00 -3.61 1.32 -1.32 0.117. Left Wrist Joint Caster 0.00 0.00 6.07 .0.10 1.21 -9.09S. Left Foearm Cester ef gravity 0.00 0.00 0.00 0.92 .0.3? -3.03rasfsremtis free Legal lieoersc to MAIIco LAe

AA !.13971 -..9137 0.?60291.0.13309 .0.27964 .0.95104 J

Sesmt Contact (111"004 Wsaves [in]

1-, 1.77S Y; 1.17S I 'iWO

3.80

Artacil! ot uesets of Iaerta flbs - soS -In

1: 0.1191 1. 01128 1. 0.0069

lrassferutaso free Orlclpsl to Local Referonce Ames

r0995 0.00000 .U2m1At, 0.0600 1.0m00 0.00000I

10091 0.00060 -0.99974

Surfaco Cllrctqristics Coefficients holatt!2 Load ilbs) to inflection (101)

-2.39711 A, 9 107.310 A? - .311.39 A3 S 04.614 At - .194.310 AS 0

132

RIGHT HANED

Local Rotorence AMe

Z axis - vectore fr the right wrist center to metacarpal. Ill.1.2 plan . right radial stjvloid process. %I axis - V x . %origin - Comter of gravity. *

Anatomical Axes'

I axis - vecor frog wogcarpale I I to uetscarpale V. £Z axis - norml from dactjllon to T WxS-I axis - T x Z.origin - at intorsectien of Y axis ae thme nomal passing

through metcarpal. Ill. I

1. Rioht Lateral Aspect of l~ltacerval.Pnalangal joint it lateral lifta of tne location where digit 11 Attachesto the palm.

2. 1101t Lateral Aspect of i*tacarpal.Phaiengal Joint V lateral side of the location Mfgr digit V attaches tothe pole.

3. Right Gectylton - tip of digit Ill.4. Right Fatacarpale Ill - top of the bW# on the back Of the *a"i representing the nckle of digit Ml.5. Right liunr Styleid process " mdial projectian of thea wrist fleuion ais to the surface Covering.6. light Radial Stlifd Process. lateral projectiont Of the wrist flezIOn aIS to the Surface covering.7. Ight wrist Joint Ceoster.

Locai Wserence hses (in) .- '.tomical Am*$ tin)

1. Right Lateral Aspect of NP0I .1).S4 1.1J9 .31 - .00 .3.40 0.002. Right tateral Aspect of NP V 03.32 -3.54 .6-.00 1.91 0.003. Rioht Dactylion .83 0.1? ~.IS ).00 0.53 -.. "4. light motacarvalo Ill .0.66 0.00 3.6s -0.79 0.00 0.00S. light Ulna Styloid process .A.M -0.68 -11.22 1."9 3.6 2.456. tight Radial Styloid Process -0.66 0.6 44 1.90 2.24 0.00 2.047. Right Wrist Joint Center -0.64 0.00 .0o 2.06 o.7g Z.27S. Right hlad Center of Gravity 0.00 0.00 (3.00 *0.84 tQ.Sl 0.50

ransorma ionfrog Local Reference to Antatomal& Aie

Maw557 0.3339 -0.76855IS0.252 -0.9371 -0.120AAL ~o.?148-0.09SO2 -. 06

Segment Contact Ellipsoid Somiases (in)

I 3.600 1. 3.810 2 65

Weight (Ibl)

3.29

Printc-pal fwomnts of Inertia (IDS - SeC2 -11:.

1.: 0.015~ T. 04G03 z 0.0036

Trisformation fro Principal to Local Reference has

[ *ISG 0.03S16, 0.5336AI 00014 -Mom a4 .6.G54

CoefiietsMoat4, Load (16%) to 0oflect ion (in1

#V a 4.310] A, -31f.04S4a 42 - 23$4.47 A, - -10193.9 1a *i8(7.S A5 0

133

TMLE 14

LEFT HlAND

Loual Rf greace Axis

Z axis . vecto from Va left wrist cantor to maacarrale it[V.Z vlam . left viso 5 -,-lai proces.I axis - V x Z.oriole - cantor of gravity.

Aatmical AWSs

V axis .wec"4ifrom tcramldV to tacrpole 11. 4 \Z axis . *WIn free gactylient to T axis.X axis - V x Z.Origin . at incorsactiea of V axis and tlie mnral passing

Sw~et Loeft!$

1. Left Lateral Asgat of iftcarpal.Pftalsngae Joint tl . lateral side of tiSo location Offire digit 11 ittaClwsto the Pal.

2. Left Lateral Mwpct of atcrl.aana Joint V - lateral Side Of the location 11014fi digit V attactcs totIo 0alm.

3. Left Cactylien - tip of digit Ill.4. Left Aftacappole Ill too of ta bum on tea Wait of the fland regrabonting the knwckl* of digit Ill.S. Loft Radial Styleid Preoesi lateral Projection ot tfo wrist flexion axis to the surfac caoring.6. Loft visor ftylaid Process ON6 mailprojection of tP* wrist floxuon axis to the surfae cowingo.7. Left wrist Center.

Local Rference Alt" (I A) Anatemical Ages (in)A Y I

1. Left Lateral Asoect of M.F 11 *O0'54 .1.34 1.31 ".00 1.20 0.002. Loft Lateral Aspect of P-0 V 0.$2 1.54 O.AS 9.00 .1.91 0.003. Left Dactylien 2.6) .0.12 M.S C.00 .0.53 -3.640. Left Pvoacapala Ill -0.66 0.00 1.6s o.ig 0.00 0.00S. Left Raial Stjtloid Process .0.64 .0.06 -1.10 .2.24 0.00 2.0616. Left Offer Slylaid Process -0.66 0.08 -2.42 -1.89 .1.6S 2.457. Left wrist, Joint Center -0.66 0.00 .2.04 .2.06 .0.79 2.27S. Left fland Center Of Gravity 0.00 0.00 0.00 -0.84 -..5 0.50

Transformagtion fr o~ Re1*1ferenc to h'.tousLal As

r .. 4S72 -0.3339 0.16055*~ I 4.27523 0.931?1 0.21202

-..714 .0.09562 -0.60364J

SOW011 Cotact (lli9561d lemas#$ Oft)

a. 1.000 1, 1.670 1 3.650

Weitht Ibsi

1.29

1rinCIP41 ftnOts of Isortia (lbs_ Satz .In)

V: 0.0115 7 0.0093 1 0.0014

Transfermtien ftV Pflaclpal to Loal Reference Ames

r .85565 MAN51 0.516)61

surface Charoctoristics Coefficients ftlatfne Lwd (160) to 00flectten 041

AO .4.0703 A, - .31.04S4 A2 o 2)64.47 A3 a -10193.9 A4 - 191'?.$ AS 0

134

TALE 15

SEATED RIGHT UPPER LEG

Local RtftrenCO Axes

Z axis . vector from right hip Joint center to the rigt khe joint center.Y-Z plane, rigt lateral femril condyle on th tWigN.Origin - center of gravity.

Anato ical RAgqW

Z ais - vOcto from lateral few&a spicoadyle to trCisemterion.I ais - ral frm Z axis to medial fow al eicodyle.I axis . y x Z.Origin . at trochafterion.Selmt Lanmrks

1. Rtght T hm erin cen the seated pelvis. d point literal to theright hip joint center.

2. Rigt Lateral Fwial Cn4dyle on Thigh . a point en the inferiorlateral "tle of the tXhg Covering uaperfor to the knee Wi. Y 114P

3. Right We)il Few#l Co I an Thigh - a point isn the Interiormedial eg of te taitg covering sipertor to the knee axis.

4. Night NIp Joint Center - located In the watod pelvis.S. tight Ks"e Joint Center. 26

LOW OI Fet ce Ae Oft) Anatomical Ages (in)I I I

1. R1 "t Trochenterion 0.17 3.9? -9.36 0.00 0.00 0.00

?. Right LUteral Fowmenl Coadyle on Thigh 0.16 z.39 S.93 0.00 0.00 .15.411. Right ftdlal finoral Condyle on Thigh .Z3 -4.89 5.40 q.00 S.00 *|5,4.4. Right IP Joint Center 0.00 0.00 -9.96 0.44 3.4 0.125. Right Kne Joint Center 0.00 0.00 6.S6 -Q.29 1.99 -16.286. Rignt Upper Log Center of Gravity 0.00 0.00 0.00 0.00 .18 -9.76

Transformation fno Loco) Refeence to natoemical Aes

[0.01370 .0.99275 -0.1140L-0.012 0.11909 -0.099145

Segment Contact (llhPigid ,,letes CIA)

I: Z.950 1 3.00 21 Y.285

33.11

Principal he ts of Inertia fibs - sicz . in)

1. 0.6092 v: 0.5934 1. 0.1064

Trnstformation from Principal to Loco[ Reference AL*

0. .99740 0.0000M .0.072061L -0.0;S -1.0=O -. OMgt

$uface Chaacterititcs Coefficients Predicting LuOt (1b4) from ofiectimn Ain)

Front of Thigh; % * .0.1644 A, - 14.1844 A2 * $1.931" A3 a .122.6Z4 A4 .96.1296 AS . .29.0903Knee A0 . -.014 A, -. Zi214 Az a 8#.34 A) , -401."9 A 4 .1 A . 0

135

TMLE 16

SEATED LEFT UPPER LEG

Local Itae Ams;s

Z axis .wctor tram left nip joint center to the loft bwo joist cavter

Origis Cantor of gravity.

Anatomical oAm

z "is . ooW from lateal femoral epicosd~le to trochastrlas.V axis wette frau "ial femoral apicasdYlo sormel to I aSRI.I axis - I x 2.Origin - at trackasterion.

1. Loft TrOchaOStOrt . as the Satad Pelvis. a 0014t as tho 110facolateral to it"o loft ht joist castor.

2. Loft U~tarl ftW4l Cas4*lo as Thigh - a Point as the Inferiorletorl wase of tne thlo Cowring seolor to the u tasu.

3. Left mftal ftae Coet* OR Twib"s .point sto Iferiorseal "il of too taig vmcowl"~ superiv to tat ones axis.

4. Loft Nip Joit Cnter. -ocate inthesated plvis. 3 I'S. Left Kws Joist Castor. ~.2

Local Ilforasce Am 0 m) AWOReatcl Amos (in)a 1 2 1 V I

1. Loft Tractastoa -0.11 -3.92 .9.36 0.00 0.00 0.002. Left Lateral Femoral Coneylo an Thiqb 0.14 -. "0 5.93 0.00 0.0" .15.413. Left Y4Wul Famoral Casaylo am Tigh 0.23 2.W S.40 0.00 *5.W -15.484. Loft NIP Joist Caste 0.00 0.00 -9.94 0.44 -3.94 0.12S. Loft 9m joist Centor 0.00 0.00 4.34 -0.29 -1.99 -14.284. Loft Uper Leg Cestor Of Gravity 0.00 0.00 0.00 0.10 .2.76 -9.74

TraxSform trea Loca nforsco to Anatasical Axs

AL 0 .999 .0.0141 .0.019631AM 4.017 .0.99279 0.13940

Set Castet (Illseold lSoigm t in)

1: 1.969 7: 3.0%0 Z2: 1. 28

"lot 011111

13.11

principal Poets of Inrtia (lbisc - Is.)*

1: 0.44m 1" 0.3934 Z2: 0. 106

Traasfeeautlas frau Principal to Lustl Reforeac Ao"

.[.0.99740 #4.08m;004 ym

AL l0oom -1.00 *0 OfiffifJ

suate 04ractorlsat'c Cofflctosta ProctlIn M&46S ts) from Oviloc~tiasl's

frast of TW, All a .0.2844 At * 14.118424 43.3934 A36a .122.424 A4 IL 97296 AS * M9093

£50: ..00 4 A, a.2174 A2 a "7.3 A3 9.401.406 A4 o0 Ae 0

136

TABLE 17

STANDING RIGHT UPPER LEG

Local Reftrenc AmeS

z axis - vector fro right hip joint center to the right thee joint center.V1 plane - right "edial femoral coadyle on the tigh.I ats - V I Z.Origin - cemer of gravity. 4

Aatomical Axes

z "is - voctor from lateral femoral ep#lconl* to troclnt eron. .V "ils - eI from Z "is to "dial fa arla epicaYIle.I ail - T a Z.Origin - at trochanterion.

1. Night Trocinerion a point on the surface *ateral to the right -. h .hp joint center.

2. Right Lateral Femoral Codyle on Thigh - a point on the inferiorlateral eip of the thigh covering suprior to the kne axis.

3. RIoht 1odial Fsmral CWoayle on Thigh a point on the inferiormedtal eWge of the thlgh covering soperior to the Inee axis.

4. light Nip joint Cmer.5. light on Joint Center

Local 4#10refte A*% 111) Anatomical At*% (InjI I I a I

1. Night Trochateri n .- 3.82 -S.4 0.00 0.00 0.002. tight Lateral Femoral Condjle on Thigh -0.10 2.21 6.26 0.00 0.00 -14.043. Right Redial Fmwra Cendyde an Thigh (% 00 -2.90 ?.4S 0.00 11.13 -14.114. light NMp Joint center 4U.Z4 0.00 -7.23 0.44 3.9i 1.08S. light KAne Joint Center .n.Z4 0.00 8.90 .0.20 Z.d -14.926. Right ti*er Leg Center of Gravity 0.00 0.00 0.00 0.39 3.1s -6.10

Transformation fr!! Legal Reference to M~itootcal Axes

r.992 0.01937 .0.039701[0 :01441 .0.119321 -0.1153?,0.0417 I0. 1144 -0.9M2I

selmt Contact (llipsoei somlaes (in)

1:' 2.M0 V' 3.00 1: 7.ZI

well" (Obs]

19.94

Privicital _Pwntl of Inirtic (lbs - ic2 - iAn

11 1.4494 '. 1.49 , z 0. 19

TransforMatIOn Frog Pr'inC*Pal to Local 10efeenc Axes

o.91M 0.19046 -0.14zz41ALp . 0.20374 -0.911339 0.1049)j

0.0920 .1271S -0.9111441

hrfoceOerolttrirlsic lCoefficients Relati!J Load (i0s) to OfleCt.oot (in)

front of h : A 0 .0.2844 Al * 14.164 A2 * 81. )66 A) -122.614 A4 * 0.?J7 1 A8 -A9,0S03

Xfto: A0 * -0.0368 A, 2.2114 Az a 861.345 A) * -401.60 A4 " A s * 0

137

TABLE 18

STANDING LEFT UPPER LEG

Local eference Axes

Z axis -vecto from left hip joint c~enter to the left OEM" joint center.V- plan left mdial femetal condjlo an the thigh.I ails - I X Z.Origin - Center of gravity. 4

Anatoical Axes u

Z ails - vector fro lateral femoral eeicodyle to trocantlllron.V aIls - vector from mdlal femral *plcoadjla, normal to Z ails.Sailts - T 2.

Origin . at trochanterlfi.

1. Left Trochanterton . I int on tro ivrface lateral to the left hip YIq ..

Jets? Center.2. Le'?t Lateral Femal Covitte w.. Thugs . a point oo the inferior k

lateral i of the thigh Covering suwerior to ne i-ef atil.3. Left lla ramrl Co.,lel on Thigh . a pont n the Inferior

megial s p of te thigh covering superior the knee axis.4. Left HIp Joint Center.5. Left One Joint Center

13 I

Local Reftfi'e L i nt Anitomical Ales (ift)I f I I I I

I. Left Trochanterlon -C.44 .3.62 .S." 0.00 0.00 0.00?. Left Lateral Fameral Conoale on Thiqg -4.10 .Z.1 6.26 0.00 0.00 -14.043. Left MIa116l femral Condyle on T1ign 0.00 2.910 1.8 0.00 -. 13 -14.154., Left HIP jo110it Cntr -0.2t 0.00 -7.21 0.44 .3.96 1.08S. Lieft Knee int Center .0.-4 1.00 6.0 -0.10 -2.12 -14.924. Left Upper Leg Center of Gravity 0.00 0 00 0.00 0.39 -3.1S -6.10

tansformatton from Local Reference to Anatomicl Axes

r 014 -0 .03,,04 AL -0.0160 -0. "32 0.1is0 ,

L-0.04167 .0. 1147 -0.99al4

st"nt Contact (lit0vid esliasei lia)

I 2.9S0 I 3.080 1 1.48S

wigft (iIs)

19.96

Pi-. pal momestl of Inertia -11 *. 'CC

1: 1.4494 1 1.4944 L 0.1989

Yranformaklon from Prlnci~al to LocAl efelren As#%

. [ 0.973 9 .0.1044 -. 0.241A I 0.203)4 .0.9y339 -0.104693

-0.09920 0.12IS .0.9 I I

5urface Characteristic$ Coefficients 401tlij Load tios) to OffleCtio" [ta)

front of thigh Al • .0.Z844 Al - 14d.16 A? 8 01.934 A, - -1.'624 A4 Z '$ At, 41-9.0903

Knee A0 • .0.0)4 A, - 1.1114 A?, 61.34S A3 .. 401.40 44 0 As 0

13H

TMLE 19

RIGHT LOWER LEG

Loca lterasce AMe

Z "Is - "er from rigt knee joint canter to te riot ile 4joint Costar.

9-Z plan - right anial feinal comile.I axis o I a Z.Origin - center of gravity.

Anatomical Ame

Z axis -vgc:r from sfytrio to tbille. 41 .V axis - vector from lateral illelws noral to Z axis.I ais -x Z.Origin - at tibiale.

1. lot Tiblile -at the level of the infiter " of the ee Iharlre, a point on the antero-odial surface of the loew leg. IX

2. Right Lateal sblloolvs - the lateral projection to the coveingsurfacm of time ankle flexion axis.

3. Riot Sphyrtem - the iniill Projection to the covering surface ofthe sale flexile axis.

4. Right Lateral Femoral Coadyi - the lateral projection to tmecovering surface of the rigt knae axis.

S. Rigt 110i0l F Cirta C -|i the meotal projection to the coveringsurfKe of the right knee Sat.

6. light Koe Joint Celter. 31. Riot Ankl. Joint Center. 3 -

Local Reference Axet Inl Anaetoecal Ails (in)I I I Y I

I. light Tibiale 0.00 -2.27 -S.01 0.00 0.00 0.002. aight Lateral PIllels -O.1's 1.31 9.63 0.00 -2.3 -14.803. Rigt Sphyriemt -0.15 -1.62 9.61 0.0 0.00 -14.644. Rigt Lateral Femoral Condyle -0.?S 2.13 -6.24 -0.31 -S.06 0.97S. Right tial reeral Conayle -0.1S -4.69 -4.50 -0.21 0.33 I.5l6. ligt Knee Joint Center .0.Z0 0.00 -6.14 -0.27 -. 36 1.411. light Ankle Joint Canter -0.20 0.00 9.6S 0.00 -1.32 -14.16S. Rigt Lower Leg Ceter of Gravity 0.00 0.00 0.00 0.00 -2.01 -.11

Transformation fire Local Reference to Antotcal A&es

*0~S .. 94 .540.99991 .0.00009 0.013311AAL -. 00076 -0.190i 0 .05 41/1 0.0132 -0.0142 .0.99G9 J

Semnt Contact Ellipsoid Sase (i)

V 1.16% ZOSO 9.1s0

Meilht (1hi)

7. 24

Principal !lMnts of Inertia (l1% - s .c2 -

i:, 0.6706 1: 0.ts45 1: 0.0391

Tr!Sforatllon I,, Principal to Local Reference A* t

[O.0.941 0.00M0 .0.033221AL, ."m000 -1.00000 0.00000

L0.0332 0.00000 .0.94S

STts~ L (Its tor Ioflectioo if)

frost of Calf., Al .0.1361 A, Z.I Az *.t-14 A) • 19.0w A4 0 AS 0

ack of C4lf: A 0 .0.010Z A, 9,41% A, -1.0606 A 3 0 A4 •0 As 0

119

TMLE 20

LEFT LOKR LEG

LOCal Noferam lam

z ads - stee frm left "a mat cow to the ft 1@bl

Y-1 Om - left -sa I towel c=Ibe.I ads - V a L."08 .- cow of r yt.

z adi - facto fromn sollyrs to tthlale., oslo - mousi frmr 2 as to lateral veit. us.

OkIgi - at tiblale.

1. Left liblele - at the level of the fer-tar OW of tM 1111110bwm . 0point am the atoro-aetal sorfac of tM low-lg

2. Left Lateral ftlsaolus -the ltel projection to tocow mlgsrfa of the eat1e flovion ealt.

3. Left sparion - the swt inr-jetiotoa the co"aorl serface of toeeabto Flexion eas.

4. Left Lateral Fmrai Comey the towel "rJectlem to thecover-log our-fac of tfe left knee axis.

5. Left htfal Fomoal C4019 - the adiat projeCtlem to the CMO§-asurface of the left kaen at%.

4. Left am o t ha Conter.I. Left Anale Joint Coater. -

Loca I Neoeaco Age$ life) bfatical Amges (In)I I I I I I

1. Left Toblale 0.00 2.2? .S.01 0.00 0.00 0.002. Left Laterael hel loolies *0.1s .1.31 9.63 0.00 2.83 .14.603. Left 5ehyr-se -0.1s 1.32 9.61 0.00 0.00 -14.44. Left Lateral roweal Coni 1 e -0.25 -2.73 4.24 -0.31 5.06 0.97S. Left bOtel Fier-l Ceoslo -0.1s 2.04 4G.50 0.21 -0.33 1.516 . Left "oa Joist Cealer -0.20 0.00 .4.74 .0.21 2.34 1.417. Left Amele Joist Coater -0.20 0.00 9.6s 0.00 1.52 -14.76I. Left Lawer La Coaler of &@*Slty 0.00 0.00 0.00 0.00 2.01 -S.12

Tra~sformttom free Local leferwact to Anatomical An"S

004.991 .0.006 .0.01iJ5 1AM. * 0.00019 -0.96W .0 0142 114.0133M 00.0§142 .g)961 m

1: 2.145 1 ,2.0O50 Z' 9.750

ifoif ( 05)

7.24

Frisctoel Slowt of lar-t1e (lbs . Soc2 . in)

1:0.6701 1., 0.4144 1., 0.0397

iro-,. 'maom fror Ortacitel to Lfill bfROWSK&ie

mm 0.94 0.00003 0.03322nALP 0 0000 -10 .099945

Surfect LsarfcIfrl$1fc 1 S..tflclOet1 UOltlai jleaf Ij to 0fl1iO40 [is)

Frotof Calf 40.-.136? A 346 Al J.111 Ate2*.MOO £4.0 A5.0Wecof Calf, A %007g A(.?i.415 A .2-0"6 Al3.0 A4.0 £S.0

140

TAKE 21

21IHT FOOT

RpowCal tam ao wu oda st.a i il

at- tw me f2W

Z I ads~f 1, dfwlrly N vctm NMI to 0s 9-1 PIM ftnuI "U"MaIa 1. UniiOr V. a UM otr Cako vsm

I axis - VKW I Mfr gelo~ tolaeM "I "eMily wrM "thpngm of t It as -1 pis".

IF oxis Z 2 1 .IGrie a f s ltoa es of a* I St " ust aw l postl 3

1. 111Kt Jtt lDiaag o int I -a beie on the aia) side of tfe foot agpromintely 2 tech"sfrom the front.

2. INht Peitome CGICaneMMS - the wetorloe-mest Msetts the fast, o! v Imlue I Inch aboe the sale.3. Rioht fttrul-baluagel ist IF - a lp a tie 'atera sid of tow feet affeuleetoiy

2 1/? Inches from us f ront.4. 11i1"t Tee 11 time eatorler-aWst peint eN the feet.5. lvgt Apale Joint CatoW.

Local Reerence Axes 0("'I Anaomical toes (101)A I z A I I

I. :ihttot etrsu.Iloag~ Jeint 1 3.919 -2.32 0.49 0.00 1.M 0.002. 1 9git Pestorlee Calcaneews -4.21 0.00 0.49 4.19 0.00 0.003. 1ig1t firtatrsl-pial"Wgee Jeowl V 3.45 2.04 0.49 -.3.3 -2.04 0.004. klgkt Tee 11 S.99 0.00 0.16 2.01 0.00 0.33S. Nllgt Apile Jeint Costa. -2.1? 0.11 -.. 4 -6.11 -0.11 ?.046. Rioht Feet Costa. ef 6.evity 0.00 0.00 0.00 -. "9 0.00 .0.50

Tras*feruetem f rom Local mefereec to a~teeC~l An@%

ro0.0 0.0 1

00 0.0 .2.0

Salwt Catict (lioseld SuuiameS (in)

X: 4.9M00 1. .7S 1:, 1.67S

weight ohbs)

Priocipal Oieents of Inqri (la %K .~ .n

A, 0.0067 COW 1-,* 2 0.0491

Tram-.fqetou. from Prl#cisel te Iecol %sfqr**4e LAos

OSS 96 -0.04430 0.16084At 0.01649 -0.9fl14 .0.34936

10.16611 0.364u .0:91S31

AO -0.6104 Al * 61.7413 A2 e -M0.172 £3 * 1331.10 A4 * _S510.69 AS* 31$8. 30

141

TXLE 22

LEFT FOOT

Looffoiw ft" iIV*g agfitas

a ta we -o of rarity.2

or immelaul 1. "atwsl V. ad Ogstew calcinm.it MIS - leter from Pa.51mM calcamins to e rinl1 110401183d

PWIVtt' 66 taOIt1so -1 pan.V gMIS - 2 a L i.

W tin - a 11e o rsatl m p t OSa o tm .4

1. Left Mttaisl-0alanggal Joint I - a 66191 - tagile al Sideof tag feot aolostgly 2 tlosfre twt front.

2. Left Posterior Culcamous -tog ogttoret Point on the (OgK* ppzimtgl I lack Ame tag [email protected]. Left Iltarfl.F la"ga Joist V - a mulp on tag lateral sid of the fasteo alesutely

2 /P foc"Sfrm f rot4. Left Too It - the aatfloe-at pglqt so the feot.S. Left Wel Joist gsattr.

Local fogam Ames 11o) &towicul Agin (14)I I I I T Z

I. Left littoral-fhalonsgl Joint I 3.99 l.S2 0.49 0.00 -1.$Z 0.002. Left Posterior Calcbagous -4.21 0.00 0.49 .3.19 0.00 0.003. Left ~ttraJmlaolJoint I L.is .2.04 0.49 -0.S3 2.04 0.004. Left Tog II S.99 0.00 0.16 2.01 0. 1 0.33S. Left Aftl* Joist Ceomer 42.12 -0.18 -1.34 -4.11 0.13 2.046. Left feet Cgntgr of Gravity 0.00 0.00 0.00 -3."9 0.00 '0.10

Tra.,ftyrigtinn fro Local Reftrec. to miatgimmcaI Age

rA 1.0 0. 0 0.0. 0 .0 -1.0 0.0L0.0 0.0 . 1.0j

sesew Contact (IIIgsld Slmlgg ORs)

1: 4.900 1: . 1 AS I 1.67S

"Itht fibs)

2.74

pr~ncteI IWts of Inoltia (1% - Wc2

9: 0.0061 1-. 0.0124 1, 0.0491

Tr2Rsfwptl! es . Pwi~cips to Local Seformnco Ages

r0.96"m 0.0"630 0.1048A*ps -0.01649 -0.92914 0.36

[10. 1421 -0. 362 .0.91032]

lien-f 0 K nteistics Coeficlogis Agti~jLa il"ts l" u. fl

AO -0.6M0 A1, 2 1463 A? - 4104.112 A, o )My. 40 4 _SS10.69 Aj 3 118.30

142

TAKE 23

SEATED PELVIS WITH SPIKE

amo f me OWtlal tat us wits tw 0191M a tft comteof frortty.

I ants - vemir Ir ript sertue sowler mt~ sepau ta -

LMft moaifr O W or iliac [email protected] ats asOmni fewr~IS ~gto I &MIS.I &IS - I a .Oriffe - at Iatersoctis of T "is ame tw oearl to It

1110111101 t*rw tft "5ter W"Oelar Iliac masles.

I. Riot Asteor soertgv Iliac spine MS) - a palpasIt protrusion at tft rilat anterior gupertce corner ofthe latafeal frintort.

2. Left Aptentor hoprior Iliac stia. (4525) -a palvaelop protrJsIoe at the 'oft anterior S'Arior corfer of t"101termal V rrOfw.

3. Sy~ta - ae utn. froat of the pelvis. a point aaevo t%@ joctiwrn of t".oigs4. Posterior Sgperior lilac 001dstie - i the postortor sitting. a point at the level of tE% f*1g of toai

S. Left Trocheantirn a point on the polvis ;wr'act lateral to taig left nIV joinit.Right nirchiantorion a po'ht a the pelvis surface lateral to the right hip.

7. Left Pelp joint Center.e. *isst "to Joilit ct-te'.9. Pelits Attacmnt Center - Center of the p~ito %ic% dttacfts the laftr s~imo.

Local Reference Ajes tin 4 hte~a A) ~ i

I I I a I I1. Right £515 11.8a 4.87 *1.SZ 1.00 -4.414 J. 30?2. Left ASIS Z.68 .4.67 -1.62 3. )0 4.68 0.301 . sympys Ian 4.53 1).00 M.3 ).)0 0.00 -.. 174. Posterior Soperior Iliac 0111i 'he .1.43 0.30 -'3.1', .14 J. 00 4.)2S. Left TroChaniftgrfae 1.31 -. Z2 1.33 -4.,A '.14 -.3.406. Right TrocXia0twtt 0.31 Y.23 1.33 ..3 *1.Z4 -0.407. Night "it JoIint Lesiter -3.3z -1.45 1.33 .4.j2 1.3 .0.41S. Left Htip Joint Center 0.32 J. I% :. 31 .4.32 -. ISj -3.419. Pelvis Attaclh" Center 3.42 0.30 -4.12 ).1) 2.30 6.3910. Pelvis Center of curavity 0.00 0.00 0.30 -.. 3 2.30 0.77

Transformation tra Local Seforefce to Anatomical Ame

1.706Z0 0.3,000 -3.706011ANA 0.0000.1.000M0 0.000001

Segmot rontoct Ellpso#4'i .asos Ltn)

11 S.000 I. 7.3s5 4.8ON0

Pvifaciaul %mvots of inertia 001i - tz

I:. MIN0 1:. 1.6110 1 .1492S

tronsforumation fra Prinicipal to Local leterence AAg,

I 0 .8 0 4 -0 .0 0 0 0 4 1 .5 1 8 5 1*t 0.00000 .1.00004 -0.30001I

10.S1164 -0.00004 -0.80045j

Surface kflqctil*4 0 ttiii viffgic tloei..ilbs #too Oftle fie) 1

l1. o O~if ffIMli 10$0 1 *0P A ll A , -6.1056 A , -400 14 3 .18 A) £ 4 *M 0

vqltqrw 0#10- AO *-0.1S~l A, - ISA 43-4.M A 1.46 4 0A

TMLE 24

STANDING PELVIS WITH SPINE

Local Ileftro As

Amr; of th Imert~oal test oft III tf o* rigin at tft coattrof rV"Ity.

T as - vft2 fr M111 orior suttirliI ait to %left mmIthilligrior ,liac spie.

Z oats - weem trim s~stm asemI to 1, aNIS.

Grlle at lstorsectiem ef V axis ai the "WWIa to ItPassing thrIs- 0 the porstoer wome Ifg IJac esilspino.

1. RItht Atorior Saperior iliac Spine (ASIS) - a palpable ptru1o at tme right anteror swperior corner oftihe internal framewrk.

i.Lft loterior Saperfor IlIac Soino (ASIS) - a valpablO protrusion at time left anterior superior corner of thlei1ternal V roinee.

3. SynI -~s time Center Of & Soft cover protryigo it attrO.inftr!0r Serf IeA. Posterior Suerior Iliac 11iospime - to the posterior s.ollno. a point at the level of tme floor of Et

pelvis.S. Right Nip jint Caer ie comter of a pilane coverinq the suirface of tnot right sip socket.6. Left tip joint Center .the centor of a plant covering tile surface of t'me left nip sociot.7. Plvis/Thera: Atacnms Cnter . to* center of time plat* ani the lumar spint watich attaches the pelvis aid

tisoras soomt5.

Local Aeortimci Aes (j. Anatomical Ann$ (in)I I I I I I

1. light Ashs 3.36 4.82 .25 0.00 -4.46 0.002. Loft ASIS ).36 -4.02 -2.25 0.00 4.86 0.0(3. systoiysiom 5.83 0.00 0.69 0.00 0.00 .3.834. Posterior Soprior Iliac ifidsiss -3.41 0.00 0.26 -6.80 0.00 2.45S. Rittt 141P Joint Canter 1.:15 310 2.03 -4.29 3.28 -1.946. Lift Hip Joint Ceniter 1.31, .3.30 2.01 *4.Z9 3.26 -1.947. lielfis/Thoras Attacmet Cantor J1.61 0.00 -.64 .0.S2 0.00 9.65S. Pelvis Coster of Gravity 6.00 0.00 0.00 -4.02 0.00 0.4s

Transformatlas from Local Referenc to Aatomicl Aes

Fo. 76576 0.00000 0.643131

[-,e10.64313 0.000 .017

Seamt Costact IlliPsOid $oo'aas lin)]

V 4.729 1, 7.189 1 5.800

weit (l0s)

principal 1%mmos of -inertia (IDS sac wiz in)

1: 0.U9 Y:, 0.d293 Z 0.S651,

trasfouptosfrom Principe) to LQ~aI_ Re4fe e Axes

r-."1.0.00001 0.50341

Su.rf ace Charcteristits Eirve Predicting4 Load (lbS) frog flt io (in]

1. Anterior 411401Wl Insert. %0 e 013 A, * 1.97129 A2 # 24.341S A3 -29.111 A4 1.1609 AS 0

2. Posterior Pelvis:, A0 # .0.75898 A, 35.1099 A2 - 40.0354 A) a -11.4W8 A4 * 0 AS 0

144

TMLE 25

SEATED PELVIS WITHOUT SPIKE

Local ftfwiw paem

pnof t"e Imortial test b" aft% as 0"90 at the Maur

0ISMS 1011011

I axis - wettor f" em t a~ener Suerior Slla spin toloft Uateri efsormI I iac estee

Z ad~s - wedti free ""WP~IM beft to V ali.6 .

" ais *VaL

Grille at tuterimem ef V so$ ada tft WeWI to itpasin to"eu the Poseior superIer iliac alasete.

1. RiKMt erier %Wer lia&c Spine !(MIS) - a palpabwo protrusleex at to* rttpt anterlor buaerlor corner ofthe lateral tfrunert.

2. Loft Warertr Superior Iliac Spine (MSIS) -a Palpatle protruihs' at too loft u..trior Superior corner of :ihetnurnal I romert.

3. syslem - so the front of too peltis, a Point just aevo tie juctioft C# tine talips.4. posterior Super Iliac 149911 . fi too posterior slting, a poist at the lootl of the fleer of the

pelvis.S. Left Tracearion - a peoit an the pelvis soaface lateral to toe left lip jo'nt.: int Trclntorlem . a peint so the pelvis surface lateral to the rillit Nip.

a. at MNip jont Cenaw.9. Pglvls/SPln* attacmet Cnter . center of tfe plate 101co attach"o toe lwar SPIRE to tue pelvis.

Local Reference Lot 014) An'atomical Axes (in)

I. I r StIS 2.4 4.87 -1.91 0.00 .4.86 0.002. #ft MSIS Z.44 .4.87 .1.91 0.00 4.13 0.003. Syosiam 4.62 0.00 0.00 0.00 0.00 -044. Posterior SupeIor Iliac Pidiplat .4.6s 0. 00 .0.23 -5.20 0.00 3.75S. Left Trec11antorien9 0.00 ..2 1.24 -4.11 ?.IS -0.72S. allot Trechantorlon 0.00 1.23 1.24 -4.11 -7.15 -0.727. Iirt Nip Jotint Catr -0.11 -3.1s 1.24 -4.12 3.97 -0.726. Loft NIP Joint Conter .0.11 )AS 12.24 -4.12 -3.97 .*7!9. Pelvts/$Plno tac1118 Ceittr -2.1s 0.00 -1.66 .SS1 0.00 2.6410. Pelvis Coster of Gravity 0.00 U-00 0.00 .3.34 0.00 0.30

Transformation from kocal fOfermoe t AnatomIcal WuS

IA 0.00M -1.00000 .0 0000.o70Mg 0.00M00-.762

Sam!' rotact (111osold Selasks (In)

I:, S.000 1 7.10S 1 4.00

44.4'

Pris~clps' Nonts of 'artlo (lbs . S"t 2 . in)

1.. 1.016 :, I.m1 1: L.2060

Trsusforelo frpe Pricip to WSJal Reference Axes

.r 6.192 -0.011017 11."M 1,AL 14.0001 .0.99992 *0.01)t

140.0062 0.0010 4.19112 J$,,rf1 2'filci" Cu.rctrtl o Prelcil L@6 ls) from Dflection tin)

1. Front of the 1604 Insert:, A. e013 A, 1.572 42 * 4.3671 A3 *-21.3317 14 13.74.09 AS~ 0

2. ftster',or Polvis: A0 *-0.51M A, - 35.1011 A2 40,0114 A3 *-12.404 A4 & 0 AS 0

145

TALE 26

STANDING PELVIS WITHOUT SPINtE

Loeal Item hom

As of the ItMial tast Samn thu m-igu K t" Cester

of yv't . N.

bt~A~t l PRO$

1 a215 - IK Iftqp rtpt aeor bow or iliac %pipe toloft 401,4029 5StAW r lIVac SOSiw

Z es octo fmw srumplwa "In to y 0$5.S axi's - w a 1.Ort9to - if ipf tasom4 of t "f$ a the eaguel to It

OMs0te twoN l t posterior wit e, lilac .sdus".

!4

I. 11K 4~16C Uperlor %lilac 51e 'ASIS) - a Palble "rtrestn at te ript anterio soperior corner a$tihe latrfal| frafrt.

2. Left a09Wcter Superior iltac Seite ISIS) - a palpable pracrlslom at to* left estrlor u prior corner of thetcroal rimprt.

. 5i)q"Mstqa . the center of a soft cover protrisloa at altersIntferlr surfaca.4. Pstetor suetr l1iK Pclsle - itn te posterior oldlime. a point at tow leel of the floor of the

S. CtIPt Hip joint Ceter - the center of a plane Cewerlag tie sorface of the right RIp socket.6. Left Nip joint tenter - the center of a plae overls the sorf*.e of tae left hip socket.7. Pevts/sti~s U ttcoft Cater - the rafter of ta, plate e the lmr sellne , cJ attacies tee pelvis a

spine segts.

LocI ?ftion A00% (In Anitomical ns In)

1. Allot £115 3.Z9 4.82 -2.64 0.00 -4.86 0.002. Left £52S 3.29 -4.62 -2.64 0.00 4.84 0.00). Smlslom S.YS 0.00 0.29 0.00 0.00 -3.834. posterior Superior -Iltc p'esone .).49 0.00 -0.13 -6.80 0.00 2.4S5 at I p jotot Center 0.00 3.28 2.04 -4.29 -3.28 -1.946: Leot Nip Jotet Unter 0.00 -3.20 2.04 -4.9 3.26 -1.947. Pelvi/slne Attachet Ceter *?.SO 0.00 -1.08 -3.81 0.00 1.74

S. eils Canter of Gravity 0.00 0.00 0.00 -4.22 0.00 0.09

Transformation from tLOa leference to Anatomical Les

0.71"" 0.000M0 .0.64301AL -. 64 30 0.00000 -4.16AGI

~sqg: contact (111psold SeuSave (in)

1, 4.2 $ W" 7.I1 1 4.800

21.91

1. 0.9019 1. 0.011 1 0.40,8

vrtsforlmtvA_ fre Princ, to Locl Reference Aset

[071S 0.000M G.682oALP •o.OMoo -I.M= o.0M

L .8820 0.0000 0.7313S

%sege Charterlstlcs Curve PrOCcttns Load (l)61 fu!p 01flctio (10)

1 wtiitf Ablo1tA4 1,er * *0.1)1.9 A, 1,1718 2 1,1 4.811 £, 1~.9J)I11 A4 370 A! *

t riw.s r polts., 6i0 .. MASS. A|, A3.10SS A? 40.031 A, i 4l661 4 At. , &, 0

,46

V4

TMLE 27

SEATED LIDISM SPIKE

Local bftrc. pa

bAtscuiea tsm 1V stood 1. Wi th C00 wis) at tfQ~e of Vanity.

4vtodcal amt

Z ants - MWte frm Lb somwtooplvt. joit t sw.. to O

av t " is NM frm thm tI1 laterl sop of t"sofaue tweaxattacbeat plaoe to t" I ash~. (

OHIMt - liptsa/tbeas attcmm coalegor.

2. $pieus/Pelvis Joint teeter - ceetor of tm@ "aso ot th. r~*s Sol*&.

Loco) lletrom Anng (fit) Amutesocal Ann (1.)A I I a v I

3.solmel/rewae Atuichst C~so -0.3s 0.00 -2.56 0.00 0.00 0.002. Spit/Pelvis Joint teeter -0.35 0.00 2.56 0.00 0.00 -S.12I. U~AW Spine Caser of Gravity 0.00 0.00 0.00 O.AS 0.00 -. 54

TrfevugStles free LK41? agftea to fAlili) ANes

.3.00000 0.00O.10000

Sotst contact Lilfteld lemsaaes (10)

1: 4.77s .: #.SOO Z:, 4.000

Proncogal ftme s of Inijibs pg 5

1, 0.06)? T., 0.0%93 1. 0.020

Tramsfomutia. free Pvigncll to Local lof rvocoo Axes

[9675 -0.191W -0.0135111:0:.19117 -0.96142 40.0052*

1:1*3540.006 -0.99119

Sepst &tffnsss (fIs lb/IM)

F11004" - 31Extension - 250Latoral .340

147

TABLE 28

STANDING LIM SPINE

:4

I axis - @am fromsI all tio he left e ofte at ee

I xs - I Z N2rgl a t. mthe fiwr t e 6fltS atnc. XLt t

1.sisb" ita ao ct Cose-atr o ~ o fter o"clerV e/t Aot tachmeunt tam ti loattmo of te botosfte.. tfsim ylw

I. btu./Th-wron Attachent Cs. eter 0o0 0.0 t2.W 0o0 tie 0.00 1 Cl~it

2. SI..(ttfteaa Attacleet Cator 0.00 0.00 -2.S4 0.00 0.00 0.003. Sploo Center of Gravity' 0.00 0.00 0.00 0.00 0.00 -2.56

ttaforsntton f ro Local eferorg to Omitomical #Ae

rAL ' 6olw oo0 0.00000

1.60 0.00000 .1.00000J

Slow Contact Ellipusoid S &$as tin)

I., 4.7 I-, *.Soo 1. 4.000

Pvtamclgol ft.sns Of Inertia (IDS - SW2 .in)

U: 0.0196 VY. 0.0196 z 0.0093

Trentsferutlo from PrIOCIeni to Local Refernwe Amos

ALF, .0000= 0 1.00O 0.00000D10.00000 0.00000 .1.00000.

Sevelt Stiffness (to 111/6111)

116.10p . "0

Citotlem - 48

Latoral - 60

148

TELE 29

THORAX

Local Usa A Mols

1 axis Vaese ftme a poa slow "two &aheauisldai Joist centars to ton Tharaa

Latr Sofa attocum cowte.Y-Z p1IS, - riot souldr Join caowe.I axis T X 1 .orlt - coiw of puIty.

Amasalcal Ams

2 ais - Vector from the tenth rib uidspins tocarvcale.

Soatis - NMIt from Z AIS to suprosteM.ra.V axis 2 Z X LOrigim - at tenth rib midspins.

1. Cervical* - a point an the thorax Jacket posterior to the posterior miii ins of the lowest meca ring.2. Tet% Rib 011splia -at the level of the lowst rio*s inferior ege. a point on the posterior eidI ins of tne

thorax jacket.3. Supastarmle - a point in bet""a the two ClaviCale torque bolt holes.a. Left ShoUlder Joint Center .the midpoint 06 the 66ductIon - adductiant ats of the left Shoulder.S. 1ligt Vioher Jint Center .the oldpoint on the abution - adutlon ants of the rigot shoulWe.6. Thmra/l~ck Attacmt Centor - the center of the surface of the loast plate of the neck cylonss.7. 1hera/Lar Spins Attachment Center .the Center of the surf ace of the. Plato which attaches the thorax to

the le~ Spins.

Local Reference Anes (in) Anatmical Axes (in)I V z I V I

1. Cervical@ .4.07 0.00 .6.42 0.00) 0.00 12.512. Tenth 116 101spins .1.32 0.00 6.0s 0.00 0.00 0.003. supralteflle 3.24 0.00 .4.93 7.19 0.00 10.324. Left $Moulder Joint Center -0.64 .7.38 -2.64 2.92 1.38 8154S. ligh Shoulder Jeint Canter -0.81 7.36 -2.66 23;2 -7.34 846. Thosa/dueck Mtacmeet Center 0.00 0.00 ."9 3.94 0.00 11.777. Theax/Pelvis £ttachmWn Cantor .0."9 0.00 1.I5 Z. 34 0.00 0.00S. TWAra Canter of 6ravity 0.00 0. 00 0.00 3.63 0.00 6.83

Transfarmatian fram Local let erence to Anaomical As*%

r0.9976 0.00=0 .0.0679SA * - 0.00000 .1.00000 0.00001 1

L 4.06791 0.00=00 .99769 1

%plont Contact Illipseld Seats [lot)

1: 4.8n V., 63100 1.

39.22

Principal !MtS of Ionta (lbs . 5gcz town)

1: 2.6203 1: 1.0517 L: 1.1136

Tr4AnfjMetIoN frI Weincipa to Local eferonce ages

ALP - O .0.0000 2 .0.9921LW .0.001 1Sqrface QChateristics Coefficients OWIatina le## (155) -to 0eflectios (in

back of shoulder. A0 0.0144S A, a -?6.1900 A2 e N60.913 A3 , .618.223 A4 *4%.S28 A5 .- 104. 791Chest, A eQ At .4057 A , 1.4#% A 3*0 A4 *0 AS *0

149

TMLE 30

NECK

Z ats -vector free teO jecaio oint caeor to toeinferor ON of tie mock cyllr mi.

-z plan - rst a of te nocl/hed jint axs.Z ats - T a Z.Oriole . cancer of gravity. 40.

Amtmcal ANNs

V ais - W Il vector to the s*Ject's left free tooplanIIfIefm IV crtcelo cartilage. cervitcale.

I ats - nrml frig V its sinro" the stepont of aflow betile left ad ritt clawiCoes.

Z smts - i 1a .Oriole - at cervical*.

1. Cirvical* . a point s to@ tawos jacket posterior to the posterto eatotnt of the loiwt mook ring.2. "is d ple" - anterior elpoint o too third netS ring.3. flck/mea Joint Center.A. aoKk/ThoPa ttiatrmnt Ceter -ao coor of the surface of too lost plate of toe sook cyliner.

Ltocl Seforoace Ann (in) Anatmical Aes (It)

l.Corvtcale -. 8s 0.00 2.91 0.00 0.00 0.00."Ad's Aplo 1.11 0.00 0.36 S.92 0.00 2.7

].*ca/"d Joist center 0.00 .00 -2.4 3.69 0.00 $.894.opcti/TVoe AttockOe Coster 0.00 0.00 Z.?6 i." 0.00 0.305.Oeck center of Gravity 0.00 0.00 0.00 3.14 0.00 3.09

Transfoertta from Local ftefersce to antomical Ates

.9 0.00000 0.0374?A*L 9[ 00.0000 -1.00000 0.00000

0.03741 0.000O0 -0.9930 J

Segot Comtact Ellesimd Sas'aaes (Is)

X:, 1.61$ ; 167 Z. 3.000

ett (lbs)

?.61

Principal PemtS of Inrtia (Ibs . scZ - n

: 0.024 Y. 0.029? Z, 0.0004

TransfM tss free Principal to Local ieferelce Axes

4LP .0.0004-.000004 .00

[' 0.00100 0.mo .1.00000

1Son Stiffness tie Iwdool

fil4ssion. ISfloteslo - IS

Lateral - 30

150

TBLE 31

HEAD

l Wforom , Ames ,

MIC4e4Chl ams eiltd In0 $roed the I axis. with te originat te cMesr r gealty"

Amiamical Am

V a"is -vetor fro riot tragion to left tragloo.I axs - wal ftrms V axis to right lefrahltale.2 axis - A x V.Origin .intectw of V axis a m a morml psing

through 50111a.

1. Stlle" - am the brdo (J) the note between the eyet.2. Illt ;Aframittals . center of tb2 low ed ge of the rigt e"o.3. tMot Tragion . O so ten right sie of the Roa. 4 point on a lira eate ding vertlcally

I Inch Sao the 0stoerl"or ad of the loop jaw.4. LIft Trllon -on t1 l1ft side of te r.od, a pomt A a iem extming vortltlly

I inch ae the posterior top of the Ioter jaw.S. fad/heck Joint Canto?.

Local efe'om' S (4) Aatomical Ants tinoI V Z I v t

1. Soeli o 3.57 0.00 -0.15 3.45 0.00 0.922. llot Iafrao"Itall ).ZS 1.04 0.6? 3.14 .1.10 0.003. Mogt Trgloem 0.12 Z.64 0.61 0.00 -?.71 0.004. Left troglm .1 .2.84 0.61 0.00 Z.90 0.00S. hadWd/hck Joint Center -O.S 0.00 2.00 -0.67 -0.00 *l.336. iM Center of Gravity 0.00 0.00 0.00 -P.12 0.00 0.61

Traofeorat io from Weil ftesifce to Anoocal A"

AA 1.0 0.:0 0.6:0.0 0.0 -1.0

Segmet Cotct Ehh Iissot wss tin)

1: 4.0 1: 2.07% V 4.000

wa~l (160)

9.92

P incipal Imt of taws (1 . ie?. In)

X: 0.140 1: .2IN I. 0.1916

Tr, n,,fo tlem fr PrIo il to ,ocal loroaco Ams[O.oa, o.00010 0.441SO1

A~p .0010 1.00066 0.0"S690o. 4% $ 0.0061 .0.6 .

Sowfage Characteristics C.ffc ;tnt$ fleltlo Lou (Ilt) to 1*tloctioe ($n)

AO e 2.742 Al e .176.917 A2 44.67 A3 * -895.t At 609.59 A5. 0

151

2.2 (IS/AU Model Simulations

2.2.1 Conversion of Basic Data to (IS/ATB Model Format

The A7B model characterizes the body as a set of rigid segments linked

together by joints. The seveiteen segments and sixteen joints chosen to

describe the Hybrid III body are listed in Table 32. Also in the Table

is the chaining scheme in which joint J connects segments. j + I and

JIOT(j), Wlere JNT is an input parameter.

Two AI data sets have been developed; one using the seated manikin and

the second using the standing manikin. The data sets are identical

except for the lower torso, middle torso and upper leg segments and

pelvis, waist, hip and knee joints. The tables in the following

sections contain the seated manikin's data. and the standing manikin's

data for thuse segments or joints are included at the bottom of each

table. Where data were not available from this study, the data from the

Part 572 dumy data set developed by Calpan (8 were used. The

complete, formatted input files for both manikins are listed in the

Appevidix.

2.2.1.1 Segment Characteristics

The ATB model requires the weight and the three principal moments of

inertia for each segment. The orientation of the principal axes is also

required and is specified in terms of yaw. pitch, and roll rotations

from the segment local coordinate system. These rotation angles are

obtained from the direction tosine matrix for the transformation from

the principal to local referenc* axes. Table 33 contains the mass

properties for each segment and the principal axes yaw. pitch and roll

angles.

152

TABLE 32

Hybrid III Sepents and Joints

SKHRIT JOINT

No. (,) awe _eSm, s- Joined1 lower torso LT No. (J) Now .Mb- JNT d+I2 middle torso MT I pelvis P 1 23 upper torso UT 2 waist W 2 34 neck N 3 neck pivot NP 3 45 bead H 4 bead pivot HP 4 56 right upper le NIL 5 right hip Rl 1 67 right lower leg ALL 6 right knee RK 6 78 right foot IF 7 risht ankle RA 7 89 left upper le RUL 8 left hip LH 1 9

10 left lower le LLL 9 left knee LK 9 1011 left foot LF 10 left ankle LA 10 1112 right upper am NA 11 right shoulder RS 3 1213 right lower am ILA 12 right elbow RE 12 1314 left upper arm LUA 13 left shoulder LS 4 1415 left lover arm LLA 14 left elbow LE 14 1516 right hand RED 15 right wrist Nu 13 1617 left hand LHD 16 left wrist LW 15 17

153

TABLE 33

SEGENT MASS PROPER~TIES

PRINCIPAL MOKiNTS OF INERTIA

SONUT WEIGHT (LBS - SEC2 - IN) PRINCIPAL AXES (DG)I SIM PLOT (LBS) X y Z YAM PITCH ROLL

1 LT 5 44.460 2.4575 1.2969 1.2080 -1.05 52.68 180.002 XT 4 4.890 0.0612 0.0593 0.0205 -11.08 4.22 180.003 UT 3 38.630 2.6203 2.0517 1.7336 0.00 4.99 180.004 N 2 2.680 0.0254 0.0257 0.0084 0.00 0.00 180.005 H 1 9.921 0.1408 0.2128 0.1956 0.00 -26.58 180.006 RUL 6 13.713 0.608b 0.5934 0.1068 0.00 4.1 -180.007 ILL 7 7.237 0.6708 0.6745 0.0397 0.00 -1.90 180.008 Ri 8 2.756 0.0067 0.0524 0.0491 -2.69 -9.23 -158.009 LUL 9 13.713 0.6086 0.5934 0.1068 0.00 4.13 180.00

10 LLL 0 7.237 0.6708 0.6745 0.0397 0.00 -1.90 -180.0011 LF 1 2.756 0.0067 0.0524 0.0491 2.69 -9.23 158.0012 RUA 2 4.597 0.1025 0.0997 0.0110 0.00 -1.31 180.0013 ILA 3 3.800 0.1191 0.1128 0.0069 0.00 1.31 180.0014 L.UA 4 4.597 0.1025 0.0997 0.0110 0.00 -1.31 180.0015 LLA 5 3.800 0.1191 0.1128 0.0069 0.00 1.31 180.0016 RHD 6 1.290 0.0115 0.0093 0.0036 -2.35 -31.09 -175.6017 LUD 7 1.290 0.0115 0.0093 0.0036 2.35 -31.09 175.60

STANDING MANIKIN1 LT 5 21.912 0.8019 0.6182 0.4678 0.00 -43.00 180.002 MT 4 2.661 0.0196 0.0196 0.0083 0.00 0.00 180.006 MJL 6 19.984 1.4494 1.4968 0.1989 11.0b% 7.03 173.909 LUL 9 19.984 1.4494 1.4968 0.1989 -11.08 7.03 -173.90

154

TABLE 34 SEGMENT CONTACT ELLIPSOIDS

SEGMENT CONTACT ELLIPSOIDSEGMENT SEMIAXES ( IN ) CENTER C IN )

I SYM PLOT X Y Z X Y Z

I LT 5 5.000 7.185 4.800 -1.000 0.000 0.0002 MT 4 4.775 6.500 4.000 1.000 0.000 -1.0003 UT 3 4.825 6.500 7.785 0.000 0.000 0.0004 N 2 1.875 1.875 3.000 0.000 0.000 0.0005 H 1 4.250 2.875 4.000 0.000 0.000 0.0006 RUL 6 2.950 3.050 7.285 0.000 0.000 0.0007 RLL 7 2.165 2.050 9.750 0.000 0.000 2.0008 RF 8 4.900 1.875 1.675 0.000 0.000 0.0009 LUL 9 2.950 3.050 7.285 0.000 0.000 0.000

10 LLL 0 2.185 2.050 9.750 0.000 0.000 2.00C11 LF 1 4.900 1.875 1.875 0.000 0.000 0.00(12 RUA 2 1.900 1.800 6.000 0.000 0.000 -1.00(1Z RLA 3 1.775 1.775 5.800 0.000 0.000 0.00(14 LUA 4 1.900 1.800 6.000 0.000 D1000 -1.00(.15 LLA 5 1.775 1.775 5.800 0.000 0.000 0.00(l16 RHD 0 1.000 1.870 3,850 0.000 0.000 0.00c17 LHD 7 1.000 1.870 3.650 0.000 0.,000 0.000

STANDING MANIKINI LT 5 4.725 7.185 4.800 0.000 0.000 0.0002 MT 4 4,775 6.500 4.000 1.000 0.000 -1,0006 RUL 8 2.950 3.050 7.285 0.000 0,000 2,3009 LUL 9 2.950 3.050 7.285 0.000 0.000 2,.,300

155

Ellipsoids are used by the ATE model to represent the surface of each

segment for contact calculations and f or the graphics program. Using

the manikins exterigr mesuroments. contact ellipsoids for each segment

were chosen to approuiuzate the scegmnt's surf1ace. Table 34 lists each

segpmt's contact elliptoid dimensions and toe vector in the local

ref erance system from the segment center of mass tco the contact

ellipsoid center.

2.2.1.2 J~oint Conf igurations

Tbe joint centers are emong the landmaris described in Section 2.1.6.

The location of each joint center is required by the ATB model in each

of the adjuining segment's local reference sysress. Table 35 contains

these locations while Table 36 contaIns the rotations from the segment

Local reference system to the segment joint coordination system.

Eacb,)oint has two coordinate systems associated vith it. One fixed

withxn each of the joint's adjoining segments. The reletive otetation

of the two joint coordinatte systems is uased to dettermine the resittive

torques applied at the joint based on the joint type.

Throt, joint types, were used to model the Hybrid III joints: pin, joint

(IVN =1) for the knees. Euler joint, with the spiAn axir locked (iPIN

-E), for the ankles. elbowb -nd wrists. and three degree-of-freedoL

chdracteristic joint (IPIN = ) for the pelvib, waist, neck pivot. head

pivot, hip. and shoulders.

The pin joint constrains the y-axes of the two joint coordinate systest

to be alig~d and measures flexure as the angle between the z-axes as

shown in Figure 99., The range of motion and revibtive properties of a

pin joitit are iyaoetric about 00. Therefore. the joint coordinate

sybtws selected are sligned when the knees are in the center of their

range of mot xon,

156

-0000000000000000 000000

ow C1- o -ov)C4C4 0 0 "t- t-

0000000000000000 0000000000000000000000 000000

>4 0000000000000000 00000 0

0000 C0C; 0 0000OOO0 0 000000

00000000000000000 000000

0 m0o0c0" oc"0oooo ~oiov wo4 X MOOMON0-001-OO00V MdI' O ~4# 4 C* C

Cl) 0 000000"400e000000 000000a .3 . I I0

24

U E 00o000o000o0000OX000o0o

4 ',OMNOWN00000Z00Ofl000O-~ ~~~~ .. .- 4......

-00 0 0 CiNC)NOz 9d0-( 0

>4 ~ 00O0-00-00"'O"~000400N'I0C

w ~ 00000~0M Zo-oOO-000wo "Ono

4 a1- 0

140000000000000000 000cloo1-4 IA I 0 0- 0 0 -'0 0OC Q 0 0O0O IV0w4 X -"00-0" O w oro (n~0~i ~0 C14 0(4

0 N0000n C400O C 00'C0 a C1 0 C'4,C

Z~~~~ ~ -C4lq -lt ..4 0 - 4

0.4 a 0 C*.am 0 > S 1 X % 1 1 f

4

0

-Cir)~~ ~ *$ot 00 -N VO C4 U- toOD(

0 0 0 00020 0 0 000~~4I.4~~ 61 11 .6 6 . I I166#

04000 0 0 000

0 0 0 000

0) 0 0 000

0 0 0 000

A~ 0000000000000000 000000.3 0000000000000000 000000 4

F-M+ 0000000000000000 000000

5)- CI) 0000000000000000 000000

z, 0-'~ 0000000000000000-0000003f 40-. 0000W00W00000000 000U000

Z 3 0 00000000O00000001-'000000C. 4> I I . . . . . . . . .

W. 00000000000000004000000

%00

Is Wt= 000000c,000000000'4000000-I~.4 0000000000000000 000000

C - 0 . . . . . .4c 40" c OoooO 0ooOOOO CoOo4000000

F w C6 t At t

0i 0000000~000000000 000000- 3 4O0r0000C000000000 000000

44-~ . . . . . . . . .>*4.- 0000000000000000 000000

Op a~ 0 0 0 c

0 4 000000M000000000 000-00

44 ..

C4 0000v0 i1- 0- 0 0 -C0 e 4 I0 -O0i) 0 CID

J+ I

YJNT Y3+1

Figure 99. Pin J.o Coordinates

The Wat joint. wirh the spin axis locked, constrains the rotetion

between the JUT joint coordinate system to the J*l joint coordinatesyste to be a s tbination of two body fixed rotations. first is a

precession rotation through angle 0 about the z-ahix; second is a

nutation rotation tbrough amgle S about the ew x-axis as shown in

Tigur* 100. Separate ranges of motion and resistive properties are

defined for each of these rotations. As with the pin joint, these

characteristics are symmetric, but the center of symmetry can be defined

a input. The centers of symetry used for the anles. elbows, and

wrists are in-luded in Table 37.

The three degree-of-fretdom characteristic joint requires the joint

coordinate systms to be aligned in an equilibrium position, with the

z-axis of the JkT& jzint coordinate system as the torsion axis.

2.2.1.3 Joint Rotation Rsistive Torques

The jcint resistive properties ore prescribe4 in a number of different

ways depending on the joisit type. For the pin joints used to model the

kn es, four parameters (linear, quadratic and cubic spring coefficients

and joint stop) are required to define the relationship beeen torque

and flexure. 0. The angle 0 ii measured from the equilibrium position

in which the two joint coordinate systems are aligned. Figure 101 shows

how these paremeters are used to dWfine th& torque. The curve is

symmotric about 0 = 0. therefore flexion and extension must have the

sae stop characteristics. A typical cuive from the joint tebting is

shown in Figure 102. The center of the range of notion was chosen as

the equiiibriu position end the free tango of motion determined the

oint stop angle, 0s as that angle at which the resistive torque

increases in a nonlinear sanner with incre-sing angle of rotation. The

linear spring coefficient. C. was set to zero to model the free range of

motion. The remaining two coofficients prescribed the soft stop.

Initially. thik resixtive range of the soft stop was digitized and a

least squarez method vas used to solve for the quadratic and cubic

coetficient6. Althouh thib method fit the data well. some

160

y

y JNT

Figure 100. Euler Joint with Spin Axis Locked

161

Table 37

On in Degrees

(Average of Standing and Seated Manikins - Except Hip)

Ankle 15.0Vrist 20.4Knee 25.5Elbow 18.0Shoulder

flex 90 ABD 29.4It9O AD 33.9Flex 0 A&D 8.1st 0 ADD 7.5lex 45 AD 4.5

Ext 45 ADD 19.5Abduction 27.9Adduction 8.1

HIP - 158 SLATe MANIKINFlezion 27.6xt eneion 23.4

ABD 90 Flex 35.4ADD 90 Flex 10.5

HIP - 061 STANDING HANIKINFlexion 138.0Extension 36.0Abduction 86.4Adduction 37.5

162

S T -C10 + C2(e-es)2 C30+

4

0

T CIO

00

Joint Angle, 0

T -joint torque* -joint angleB8-joint stopCl-linear spring coefficientC2-quadratic spring coefficientC3-cubic spring coefficient

Figure 101. Joint Torque Dependent on a Single Angle

163

Flexion

resistive Gin0 /-range

r/free range resistiveof motion range

Extension

Figure 102. Example joint Test Curve

164

characteristics of the resulting curve were not acceptable. These

characteristics were negative torques and decreased in the torque beyond

the measured date (i.e. the curve did not portray a hard physical stop

at the maxism joint angle). Several techniques were used without

success in an attempt to avoid these problems and still fit the data.

Therefore, it was decided to only match the significant characteristics

of the data. Those were:

T(*s ) = 0. no torque at joint stop;

i. T(Os) = 0. zero slope at joint stop;

dO

T(O) 0 0. no negative torques for 0 0 0; and

T(O % )w %% . bard stop at maximum angle testes.

With C = 0 the first two conditions were met. The remaining conditions

were met using the least squares method on six data points; (0g. 0);

(9a. TO). (0a. 20%~). (e8. 40eTm). (So. 60*Ta). and (ea. 80*T1m).

Date from both manikins, left and right knees and flexion and extension.

were all averaged to ,obtain the test value. 0 ., needed for this method.

The value for Oa for the knee is included in Table 37. The resulting

parameters for the knee are included in Table 39.

The same function form is used to prescribe the ankle, wrist and elbow

Ruler joints, but each rotation axis has a separate function. These

joints were not tested in precession, therefore the valoies from the Part

572 data set were used for this axis. The parameters for the nutation

axis were calculated using the same method described for knee flhxtre.

The m. values for ankle, wribt and elbow nutation are included in Table

37 and the resulting precession and nutation parameters for these joints

are in Table 38.

The pelvis, waist, neck pivot, head pivot, hip and shoulder three

degree-of-freedom characteristic joint -esibtive properties are

prescribed using two functions. The first function is of the same form

as described above for the knee pin joint and is dependent on

torsion, * rotatioai about the JNT z-axib. This rotation was not

16

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V) 40 1.

0000 000000000000000'0"o"-0- 0 UC000O0000O00OOO0000v0v-) " rI) 000 00 O00000000O-0

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166

tested, therefore the values from the Part 572 data set were used and

Table 38 includes the four parameters for the pelvis. waist, neck pivot.

head pivot, hip and shoulder torsion.

The second function for these joints is dependent on both flexure. 9 and

aximutb. 0. as defined in Figure 103. This function actually can

consist of several polynomial functions of 6 for constant Os or of a

table of data. The polynomial option allows input of a joint stop

angle. 9. and the coefficients for a polynomial of the form

Ta Cl (-Os) + C2 ("-Os) 2 + . . . + Cn (-s)n

for equally spaced values of 0. Because the shoulders were tested at

various On and since the results were similar to those in Figure 101

this polynomial option is used to model the shoulders. The parameters

were determined by averaging date from both manikins and left and right

sides and using the same method described earlier. The equilibrium

position defined by the orientation of the shoulder joint axes is the

position with the arm extending straight out in front of the upper

torso. Table 39 presents the parameters for the right shoulder.

For equally spaced eimuth angles. 0,. the tabular option requires a

flexure joint stop angle and torque values at equally spaced flexure

angles. 0. The ATS model applies no torque until the joint stops are

reached end linearly interpolates between data points fo: the torquez.

This option was used kor the neck, torso and hip joints since they were

tested in different orientations and their large ranges of notion would

be adequately described using ten degree increments.

The neck end lumbar spines were modeled by using tho measured stiffness

coefficients up until 1200 flexure for the neck and 900 flexure for the

spines and then doubling the stiffness for each subsequent ten degree

increment. This provides a stop for theme joints. For the head pivot

the stiffne,. due to the nodding blocks were combined with tht neck

flexion and extension stiffness for the 200 of their movement. The neck

and the two lumbar spine joint resistances are in Tables 40. 41. 42. and

43. The values in these tables are double those from the test because

the neck and lumbar spines were ei h tebted as one unit while they are

167

y JNTI

figure 103. rhree Degree-of-Freedom CharacteristicJoint's Flexure and Azimuth Angles

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In

modeled as two three degre*-of-freedom characteristic joints on either

wid of a rigid element. By doubling the stiffnesses obtained frcs the

static test, similar results can be obtained for the joint torque with

the model.

A similar method was used for the hip joints. The test curves were

digitized at ten degree increments of flexures 9. and these values used

in the table. The slope between the last two measured points was

doubled for each subsequent ten degree increment providing a stop. The

left and right side were averaged to obtain the data in Tables 44 ard

45. The equilibrium position defined for the seated dummy's hip is the

orientation with the upper leg extending straight out in front of the

lower torso and for the standing dummy's hip with the upper leg

extendir*l own fro the lowe.- torso. These orientations are defined by

the hp joint axes.

2.2.1.4 Skin Compliance (Mrictoristics

The AT, modoit s force 4e.lectioa chracteriatics are very flexible.

allowing the function to be constant, Wadular. polynceial or any

combination ro two of tiae forms. for the rangs in *hich the

deflection was tested, it v decided to uie the polynomial input, since

a wwthod was svailable in which severol test curves for rach segment

test could be averaged to obtain a stigle polyvtiniol Beyond the tested

deflection, tabular data were asdea to provide the model with a bard

stop. For each surface tSted, the tebulor 40t& points of force vs.

deflection were initially plotted. There vwrt, often 4 to 5 of these

plots for each surface. Thy *ere compared for jeneral &hp9 and ranges

of fore* and deflection. It there was one set that did not fit the

trend, it was not uoed t, find the averuged eut-e. The data points on

the loading portion of the ;.uive ver? fitted to s univeriate curvilinear

regression model using orbhegonol palynosialt. The curves perteining to

the same surfact were averst4d to vbAin 4 'Any,;e. polynow.al for the

curface wit!, a charocterixtic a. shown ti Ftiurt 104.

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Force

lopI

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/ /17

Tabular data were used to model the second part of the functions beyond

the test deflections. The force at the last deflection input is used by

the model for all larger defle.tions. The tabular forces beyond the

tested deflections were chosen so as to avoid problems due to this by

providing a more definite hard stop.

Table 46 contains the input parameters for the thirteen displacement

functions. These parameters are defined in figure 105 which is an

example ATB force-deflection curve.

It should be noted that these curves are based ont the date from the

tests done with 1.0 and 2.5 in diameter saucer asnaped probes impacting

the surface. If the user wishes to use these functions to describe the

co.tact of one of the dumy surfaces with a surface significantly

different from the saucer shaped probes that surface's force-deflection

characteristics should be combined with this data to provide a mutual

force-deflection function.

17

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Tabular Points

Force (lb.) I..Ao,+ Aj*D A2P 2 + A3*D 3 g I

+ A4'D + AS 5 S I

fVI'DO DI D2

Deflection (in.)

Pigure 105. Exmlple ATR Force-Deflection Curve

181

2.2.2 eoratiom stisms

Desogtgm simul4tioa nsit the WSIAS moel we perfogmed to

use tba the inmput data bad been prope 7 femattd, the nodel

proSrem w d tim vith tee data ad the data reslted is lqaskAllyrealistic slealatee. Suck demstratios would at least guarantee to

subsequen users of the data base that the simimlatio should execute end

that phrsiclly reasomable reults should occur. These simulations were

net mode for the ratqoes of the ybrid II data ba validatiom.

A siaulation ws ebsem that had previously been perfomed witk the

standard Part 52 data base. This simulation was based an a Celebrity

frontal impact crash test in which a purely -z axis acceleration ws

applied .ith a 239 peak amplitude. 120 millisecond duration, and a pulse

shape that resulted in a 31.3 mph velocity change. No harness restraint

was appliod to the body. The interactive surfaces used in the

simulation were for the seat back, seat pan, floorboard. footboard.

steering wbeel. windslield. dash sad roof.

Three simulations were perftomud using the Part 572, Hybrid III seated

and Hybrid II staeding data sets. The vehicle geometry and motion time

history wet identical for all three simulations. The initial positions

for the Hybrid III data sets were adjusted to be as close as possible to

the Part 572 poeition while maintaining initial body equilibriun with

the external interactive forces.

Dbth time Listories of the responses and graphical kinematics wereobtainod in the simulations nd compared. from an examination of the

time histories no numerical instabilities or calculation problems could

be identified and all predicted response values were within physically

rasomable renges. A comparison with the Part 572 time histories showed

that Hybrid III responses were in general quite similar with primary

differences being phase shifts. slightly moother response curves for

the Hybrid III and also somewhat faster responses for the Hybrid 11.

182

lo efetaee nepee to be respectively due to si gtly

Graphical apismofO be i stosaesasi iua10

j572 dum saomt t~*105. Mwe resp...., through the first g

m~iscooe at *Msiaar.A aeaiingly much softer ftmerion neck

q is thePast $7 at about 120 siecoeds wen tbf# headImpats he indbiod* haMybrid III seek do~es mot under&* nearly asne amck exesmedrebounds f rm the steering wheel, windshield

and doeb impact abso thenw the Part 572.

The responses for the seated and standing Nybrid III are compared infigure 107. There is very little difference to these two responses.The only readily observable differenc. is that the seated dummy

penetrates deeper into the neat pan than the standing dummny and thispenetration increases dtriag the course of the simulat ion. A comparison

of the Part 572 and Oybrid III standing dummy is shown in Figure 108.sn" the staWmia and seated dmy responses were so similar, the

ceipari-io cinents for the Part 572 and seated dumy apply bore as

wall. The only dffterence is that the seat penetration for the Part 372and standing dummyi Is about the "w "s opposed to the seated dummywhich exhibited sueh greater penetration.

183

1wfw

I'1

FLKure 106. C0"4~rl*On Of PflrL 5172 and Seated Hlybrid III Sloultimos

184

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2.2.3 Discussion of Results

The general objectives and approaches used to develop the Hybrid III

data base in this program were similar to those in the Fleck, et al [1)

study for the Part 572 simulation data base. One additional aspect that

was addressed in this study, and which influenced the data measurement

aud model data base formatting methodology, was the development of

transformations for relating the dummy data to human data. This was

achieved by defining equivalent human anatomical landmarks on the Hybrid

III dummy and deriving transformations between segment anatomical

coordinate systems, defined by these landmarks, and the mechanical

coordinate systems defined with respect to dummy structural features.

e.g. joint centers, joint pin axes. etc. As dummies attain greater

human-like fidelity, the coLparison of human and dummy responses during

dynamic force exposures becomes more meaningful and the availability of

such transformatiors would make such comparisons possible.

The dummies for this study were selected to provide a data base for

automotive and aerospace researchers. For this reason, one of the

dtmmies was a standard seated dummy, with a pelvis molded in a seated

position, designed for car crash testing, and the other was a pedestrian

or standing dummy which is more appropriate for use in aerospa.e systems

testing. Aside from the spine, pelvic section and upper legs. both

dummies should have been identical. This was not found to be the case

as was clearly evident from the measurements made on these dumaiec.

While the final data for the parts that were identical were averasfed for

the two dummies and for left and right sides, the variability in these

properties indicates that all Hybrid III dummiec are not alike. It

would be well if some future studies could be conducted to investigate

this variability over a larger dummy population with different

production dates and use frequencies.

The formatted simulation data was run on the CVS/ATB model and gave

physically reasonable results. In a comparison to ;quivalent Part 572

responses under the same conditions, the Hybrid III simulation had

slightly higher peak accelerations and quicker rebound, but smoother

time histories. These characteristics seen to imply that the Hybrid III

is overall slightly stiffer and that its data set leads to a more

numerically stable solution.

While this is the first comprehensive simulation data set for the Hybrid

III and should be quite useful for simulating Hybrid III impacts.

several issues should be resolved before such a data base can be

accepted as a standard. The first saoung these is whether the dumaies

tested were reasonably representative of the Hyorid IIIs in general use.

The question of property variability, especially for joint ranges of

notion and bending resistances of necks and spines, should be resolved.

Also the current study almost total ignored, except for the neck and

spine elements, rate dependent or damping effects. These obviously have

some effect on manikin response. should be further explored and should

be added to the Hybrid III data base.

Finally. the most important consideration in the Hybrid III data base

acceptance is whether it represents the real world. To demonstrate that

it does. carefully conducted validation simulations against well

controlled experiments should be performed.

188

REFERECES

Fleck. J.T.. Butler. F.E., and DeLeys. N.J.. "Validation of the

Crash Victim Simulator." Report Nos DOT-HS-806-279 through 282. 1982.

Vols 1-4 (NTIS No. PC E99. PB86-212420).

2. Personal Communications with Stanley Backaitis. National Highway

Traffic Safety Administration.

3. General Motors Corporation. Hybrid III Quality and Performance

QualificatioD Manual. Safety Research and Development Laboratory,

General Motors Proving Ground, Milford, Michigan.

4. McConville. J.. Churchill. T.. Kaleps. I., Clauser. C.. and

Cazzi. J.. "Anthropometric Relationships of Body and Body Segment

Moments of Inertia." AFAMRL. Wright-Patterson AFB. Ohio. TR-80-119.

1980.

5. Young, J.. Chandler, R., Snow, C., Robinette. K., Zehner. G.. and

Lotberg. M.. "Anthropoetric and Mass Distribution 'racteristics of

the Adult Female." FAA Civil Aeromedical Institute. Oklahoma City,

Oklahoma. FAA-AM-83-16. 1983.

6. Lephart, S.A., "Measuring the Inertial Properties of Cadaver

Segments." Technical note in Journal of Biomechanics. Vol 17. No 7.

1984.

7. Chandler. R.F.. Clausen. C.E.. McConvilie. J.T.. Reynolds. HA.. and

Young. J.W.. "Investigation of Inertial Pxoperties of Human Body

Segments". DOT HS No-801-430. National Technical Information Service

(USA). Springfield. Virginia. 1975.

8. Bartz. J.A. and Butler. F.E.. "A Three-Dimensional Computer

Simulation of a Motor Vehicle Crash Victim," Calspan Technical Report

No. VH-297-V-2. 1972.

189

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