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Topic:Kinematics

Kinematics in horses refers to the study of motion without considering the forces that cause it. This field involves analyzing the movement patterns of horses, including gait, stride length, joint angles, and limb trajectories. Kinematic analysis is performed using technologies such as high-speed cameras and motion capture systems to collect data on equine locomotion. This information is valuable for understanding normal and abnormal movement, assessing performance, and identifying potential lameness or injury. The study of kinematics provides insights into the biomechanics of horse movement and contributes to advancements in training, rehabilitation, and veterinary care. This page compiles peer-reviewed research studies and scholarly articles that explore the methodologies, findings, and applications of kinematic analysis in equine science.
Accuracy and precision of hind limb foot contact timings of horses determined using a pelvis-mounted inertial measurement unit.
Journal of biomechanics    April 5, 2012   Volume 45, Issue 8 1522-1528 doi: 10.1016/j.jbiomech.2012.03.014
Starke SD, Witte TH, May SA, Pfau T.Gait analysis using small sensor units is becoming increasingly popular in the clinical context. In order to segment continuous movement from a defined point of the stride cycle, knowledge about footfall timings is essential. We evaluated the accuracy and precision of foot contact timings of a defined limb determined using an inertial sensor mounted on the pelvis of ten horses during walk and trot at different speeds and in different directions. Foot contact was estimated from vertical velocity events occurring before maximum sensor roll towards the contralateral limb. Foot contact timings mat...
A method to minimise error in 2D-DLT reconstruction of non-planar markers filmed with a moving camera.
Computer methods in biomechanics and biomedical engineering    January 6, 2012   Volume 16, Issue 9 929-936 doi: 10.1080/10255842.2011.644540
Holden-Douilly L, Pourcelot P, Chateau H, Falala S, Crevier-Denoix N.This article describes a method that allows estimating, with the 2D version of the direct linear transformation (DLT), the actual 2D coordinates of a point when the latter is not strictly in the calibration plane. Markers placed in vertical line, above, below and in the centre of a horizontal calibration plane were filmed by a moving camera. Without correction, strong errors (up to 64.5%) were noticed for markers out of the calibration plane. After correction, calculated coordinates were consistent with actual values (error < 0.55%). The method was then applied to slip distance measuremen...
Vertical head and trunk movement adaptations of sound horses trotting in a circle on a hard surface.
Veterinary journal (London, England : 1997)    November 21, 2011   Volume 193, Issue 1 73-80 doi: 10.1016/j.tvjl.2011.10.019
Starke SD, Willems E, May SA, Pfau T.Trotting a horse in circles is a standard and important part of the subjective equine lameness examination, yet objective data on this form of locomotion are sparse. The aim of this study was to investigate the effect of trotting in a circle on head and trunk movement symmetry. Vertical movements of the head, withers, os sacrum and left and right tuber coxae were measured using inertial sensors as 12 sound horses were trotted on a hard surface in a straight line and in a circle on both reins. Seven asymmetry measures and hip hike were calculated for each horse for at least nine strides of comp...
Stirrup forces during horse riding: a comparison between sitting and rising trot.
Veterinary journal (London, England : 1997)    November 18, 2011   Volume 193, Issue 1 193-198 doi: 10.1016/j.tvjl.2011.10.007
van Beek FE, de Cocq P, Timmerman M, Muller M.Injuries of horses might be related to the force the rider exerts on the horse. To better understand the loading of the horse by a rider, a sensor was developed to measure the force exerted by the rider on the stirrups. In the study, five horses and 23 riders participated. Stirrup forces measured in sitting trot and rising trot were synchronised with rider movements measured from digital films and made dimensionless by dividing them by the bodyweight (BW) of the rider. A Fourier transform of the stirrup force data showed that the signals of both sitting and rising trot contained 2.4 and 4.8 Hz...
Evaluation of biomechanical effects of four stimulation devices placed on the hind feet of trotting horses.
American journal of veterinary research    October 26, 2011   Volume 72, Issue 11 1489-1495 doi: 10.2460/ajvr.72.11.1489
Clayton HM, Lavagnino M, Kaiser LJ, Stubbs NC.To compare effects of 4 types of stimulation devices attached to the hind feet on hoof flight, joint angles, and net joint powers of trotting horses. Methods: 8 clinically normal horses. Methods: Horses were evaluated under 5 conditions in random order: no stimulators, loose straps (10 g), lightweight tactile stimulators (55 g), limb weights (700 g), and limb weights with tactile stimulators (700 g). Reflective markers on the hind limbs were tracked during the swing phase of 6 trotting trials performed at consistent speed to determine peak hoof heights and flexion angles of the hip, stifle, ta...
Quantitative analysis of the risk of spread of equine influenza associated with movements of vaccinated horses from infected areas during the Australian outbreak.
Australian veterinary journal    July 8, 2011   Volume 89 Suppl 1 103-108 doi: 10.1111/j.1751-0813.2011.00761.x
Sergeant ES, Stone M, Moloney BJ, Arthur R.Simulation models were developed to quantify the likelihood of equine influenza virus infection entering pre-movement isolation, persisting through pre- and post-movement isolation periods without being detected by scheduled laboratory testing, and escaping to infect susceptible horses at a destination. The mean probability of escape ranged from 1 in 1,200,000 to 1 in 600,000 depending on lot size. For 95% of iterations the probability of escape was less than 1 in 200,000, regardless of lot size. For a large group of 600 horses processed as multiple separate lots, the mean probability of escap...
Heel effects on joint contact force components in the equine digit: a sensitivity analysis.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 475-481 doi: 10.1111/j.2042-3306.2010.00221.x
Noble P, Lejeune JP, Caudron I, Lejeune P, Collin B, Denoix JM, Serteyn D.Whereas the effect of heel configuration on the tension of the suspensory apparatus is well documented in the literature, there are few reports of joint contact force components in the equine distal forelimb. Objective: To improve understanding of the effect of heel configuration on equine digit joint loading, a sensitivity analysis was performed to compare the effect of a raised heel on joint contact force components in the coffin and fetlock joints during the stance phase of the trot. Methods: Four Warmblood horses were used. An inverse dynamic analysis was carried out using kinematic and ki...
A preliminary modelling study on the equine cervical spine with inverse kinematics at walk.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 516-522 doi: 10.1111/j.2042-3306.2010.00265.x
Zsoldos RR, Groesel M, Kotschwar A, Kotschwar AB, Licka T, Peham C.The motion of the atlanto-occipital, cervical vertebral and cervicothoracic joints play an important role in equestrian sports and they are also common sites for lesions limiting performance in horses. Objective: To calculate inverse kinematics based on cervical vertebral motion and to develop a model close to the measured neck movements. Methods: Measurements were recorded in 6 horses without neck pain. Reflective markers were placed on both cristae facialis, both sides of cervical vertebra 1, 3 and 6 on the withers and hooves. The neck model was reconstructed from CT scans of the osseus stru...
Influence of shoes with different weights on the motion of the limbs in Icelandic horses during toelt at different speeds.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 451-454 doi: 10.1111/j.2042-3306.2010.00231.x
Rumpler B, Riha A, Licka T, Kotschwar A, Peham C.Weight boots are commonly used for Icelandic horses to increase the height of the flight arc of the forelimbs in toelt. Objective: To show the influence of weights and toelting speed on the height of the swing phase. Methods: Eight Icelandic horses (mean ± s.d. 12 ± 3 years old, 369 ± 46 kg) were used. Reflecting makers were placed on the dorsal side of each hoof. The motion was collected with a kinematic system (10 cameras, 120 Hz sample rate, 1.3 Mpixels resolution). The horses were ridden in toelt by 2 experienced riders on a treadmill at 2 different speeds (2.96 m/s ± 0.30 and 4.10 m/s...
Variation in frontal plane joint angles in horses.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 444-450 doi: 10.1111/j.2042-3306.2010.00192.x
Unt VE, Evans J, Reed SR, Pfau T, Weller R.Conformation in horses is often considered an indicator of athletic ability, performance and resistance to orthopaedic disease. Evaluation is performed in the standing horse and repeatability influenced by stance. Ground reaction forces increase in the moving horse as speed increases. Objective: To determine the effect of locomotion on equine carpus, tarsus, metacarpophalangeal (MCP) and metatarsophalangeal (MTP) joints in the frontal plane. Objective: Valgus/varus angulation will change when moving. Methods: Kinematic data were collected standing, walking and trotting for 2 groups of horses. ...
Electromyography activity of the equine splenius muscle and neck kinematics during walk and trot on the treadmill.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 455-461 doi: 10.1111/j.2042-3306.2010.00263.x
Zsoldos RR, Kotschwar AB, Kotschwar A, Groesel M, Licka T, Peham C.Skeletal muscle activity can be concentric or eccentric, anisometric or isometric and correlation of the equine splenius muscle activity with the movement of its effector joints at walk and trot has not yet been fully characterised. Objective: Investigating activity of the splenius muscle together with kinematics of head and cranial neck at walk and trot. Methods: Kinematics and surface electromyography were measured in 6 horses (8-20-years-old, 450-700 kg) without signs of neck pain. Markers were placed on left and right crista facialis, and on left and right cervical vertebrae 1 and 3. Head ...
Comparison of kinematic symmetry index calculations and the effects of straight and circular trotting.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 482-487 doi: 10.1111/j.2042-3306.2010.00195.x
Walker AM, Wilson AM, Pfau T.When assessing lameness in horses, left to right ratios of kinematic parameters are often used to quantify movement symmetry. Different methods of symmetry related measures have been proposed and inertial sensor data was used to evaluate the application of 3 methods of symmetry calculation during straight and circular trotting. Objective: To compare 3 sensor based methods of symmetry index calculation to assess; tuber coxae vs. sacrum motion, the effects of circular trotting and effect of using whole trials in place of individual stride calculations. Methods: Inertial sensors were attached to ...
The effect of treadmill speed and gradient on equine hindlimb muscle activity.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 412-416 doi: 10.1111/j.2042-3306.2010.00222.x
Crook TC, Wilson A, Hodson-Tole E.Locomotion requires successful negotiation of different terrains, but we currently know little of how the musculoskeletal system adapts to cope with positive and negative slopes. Objective: To compare the effects of treadmill speed and gradient on equine hindlimb muscle mean electromyographic (EMG) intensity. Methods: Surface EMG recorded the activity of gluteus medius (GM), biceps femoris (BF), vastus lateralis (VL), gastrocnemius lateralis (GL) and extensor digitorum longus (EDL) in 6 horses at walk (1.4-1.6 m/s) and trot (2.6-3 m/s) on 3 different treadmill gradients (0, 10% and -10%). Sign...
Velocity-dependent changes of time, force and spatial parameters in Warmblood horses walking and trotting on a treadmill.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 530-537 doi: 10.1111/j.2042-3306.2010.00190.x
Weishaupt MA, Hogg HP, Auer JA, Wiestner T.Gait analysis parameters are sensitive to alterations in velocity. For comparison of nonspeed-matched data, the velocity dependency needs to be known. Objective: To describe the changes in gait pattern and determine the relationships between stride duration, vertical impulse, contact time and peak vertical force within a range of walking and trotting speeds. Methods: Thirty-eight nonlame Warmblood horses were subjected to an incremental speed test. The spans of speed were adjusted individually to each horse and ranged from 1.1-2.1 m/s at walk and from 2.5-5.8 m/s at trot. Time, force and spati...
The role of tendon stiffness in development of equine locomotion with age.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 556-560 doi: 10.1111/j.2042-3306.2010.00296.x
Addis PR, Lawson SE.The flexor tendons support the metacarpophalangeal (MCP) and distal interphalangeal (DIP) joints during stance phase and since tendon stiffness and strain changes with age, it is likely that kinematics are also age-dependent. Objective: Maximum MCP and DIP angles decrease in the young horse, plateau in the mature horse and increase towards senescence. Methods: The distal limbs of 57 walking horses age 3-212 months were filmed and digitised with an automated tracking system. Maximum MCP and DIP angles during stance phase were used to calculate strain in the superficial and deep digital flexor t...
The relationship between massage to the equine caudal hindlimb muscles and hindlimb protraction.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 683-687 doi: 10.1111/j.2042-3306.2010.00279.x
Hill C, Crook T.Massage is widely used in physiotherapy, but there has been little previous research examining its effectiveness in increasing equine soft tissue length. Objective: To determine the effect of massage on equine hindlimb protraction. We hypothesised that massage to the caudal muscles of the equine hindlimb, specifically the superficial gluteal, semitendinosus, biceps femoris and semimembranosus muscles, can increase passive and active hindlimb protraction. Methods: The study used a crossover design in which 8 horses were randomly assigned to 2 groups of 4, A and B. Group A received massage for 3...
Preliminary report into the function of the shoulder using a novel imaging and motion capture approach.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 552-555 doi: 10.1111/j.2042-3306.2010.00289.x
Lawson SE, Marlin DJ.The function of the forelimb is fundamental to understanding both sound and pathological locomotion. The precise movements of the equine shoulder are hidden by layers of skin and muscle and hence the shoulder is normally modelled as a simple pivot during locomotion which assumes that any translational motion is negligible. Objective: To record and quantify the sliding motion of the scapula during locomotion, using a novel imaging technique. Methods: Scapula motion during locomotion in the horse was calculated by tracking the ripple of the shoulder blade's movement under an array of markers pla...
Inertial sensors for assessment of back movement in horses during locomotion over ground.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 417-424 doi: 10.1111/j.2042-3306.2010.00200.x
Warner SM, Koch TO, Pfau T.Assessing back movement is an important part of clinical examination in the horse and objective assessment tools allow for evaluating success of treatment. Objective: Accuracy and consistency of inertial sensor measurements for quantification of back movement and movement symmetry during over ground locomotion were assessed; sensor measurements were compared to optical motion capture (mocap) and consistency of measurements focusing on movement symmetry was measured. Methods: Six nonlame horses were trotted in hand with synchronised mocap and inertial sensor data collection (landmarks: T6, T10,...
Quantification of equine sacral and iliac motion during gait: a comparison between motion capture with skin-mounted and bone-fixated sensors.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 468-474 doi: 10.1111/j.2042-3306.2010.00204.x
Goff L, Van Weeren PR, Jeffcott L, Condie P, McGowan C.Information regarding movement at the ilium and sacrum in nonlame horses during normal gait may assist in understanding the biomechanics of the equine sacroiliac joint. Objective: To determine the amount and direction of motion at the ilium and sacrum using 3D orientation sensors during walk and trot in sound Thoroughbreds. To compare results from sensors fixed to the skin with results from sensors fixed to bone-implanted pins. Methods: Three 3D wireless orientation sensors were mounted to the skin over the tuber sacrale (TS) and sacrum of 6 horses and motion at the ilium and sacrum was record...
Kinematic characteristics of hoof landing in jumping horses at elite level.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 462-467 doi: 10.1111/j.2042-3306.2010.00187.x
Hernlund E, Egenvall A, Roepstorff L.Biomechanical events of the distal limb during the landing phase of a jump have been proposed to be risk factors for injury, indicating need for further characterisation of the landing and the hoof-surface interaction. This is essential also for valid testing of arena surfaces when simulating actual conditions. Objective: To investigate the hoof landing characteristics for different limbs of elite showjumping horses during the landing phase when jumping 1.30-1.50 m competition fences on 2 different arena surfaces. Methods: A single, fixed high speed camera (1000 frames/s) was aimed at landing ...
Saddle and leg forces during lateral movements in dressage.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 644-649 doi: 10.1111/j.2042-3306.2010.00201.x
de Cocq P, Mooren M, Dortmans A, van Weeren PR, Timmerman M, Muller M, Van Leeuwen JL.In the equestrian world it is assumed that riders use changes in weight distribution and leg forces as important instruments to give horses directions about speed and direction of movement. However, the changes of these forces have never been quantified. Objective: To investigate the distribution of normal forces (perpendicular to surface) underneath the saddle and of normal forces exerted by the rider's legs during lateral movements. Methods: Eleven riders performed 3 different exercises: riding straight ahead, shoulder-in and travers at trot. Three saddle force systems were used simultaneous...
Ground reaction force and kinematic analysis of limb loading on two different beach sand tracks in harness trotters.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 544-551 doi: 10.1111/j.2042-3306.2010.00202.x
Crevier-Denoix N, Robin D, Pourcelot P, Falala S, Holden L, Estoup P, Desquilbet L, Denoix JM, Chateau H.Although beach training is commonly used in horses, limb loading on beach sand has never been investigated. A dynamometric horseshoe (DHS) is well adapted for this purpose. Objective: To compare ground reaction force (GRF) and fetlock kinematics measured in harness trotters on 2 tracks of beach sand with different water content. Methods: Two linear sand tracks were compared: firm wet sand (FWS, 19% moisture) vs. deep wet sand (DWS, 13.5% moisture). Four French trotters (550 ± 22 kg) were used. Their right forelimb was equipped with a DHS and skin markers. Each track was tested 3 times at 7 m/...
Use of an implantable transducer to measure force in the superficial digital flexor tendon in horses at walk, trot and canter on a treadmill.
Equine veterinary journal. Supplement    May 27, 2011   Issue 38 496-501 doi: 10.1111/j.2042-3306.2010.00285.x
Takahashi T, Yoshihara E, Mukai K, Ohmura H, Hiraga A.Although the main cause of injury to the superficial digital flexor tendon (SDFT) is assumed to be high intensity loading of the tendon, to date the forces exerted on the SDFT during cantering have never been measured. Objective: To measure the force exerted on the SDFT at walk, trot and canter on a treadmill. Methods: Arthroscopically implantable force probes (AIFP) were implanted in the SDFT of the left and right forelimbs of 8 Thoroughbred horses (480-565 kg). The output of the AIFP was calibrated using the SDFT force calculated by inverse dynamics and an in vitro model of the lower forelim...
The mathematical description of the body centre of mass 3D path in human and animal locomotion.
Journal of biomechanics    April 3, 2011   Volume 44, Issue 8 1471-1477 doi: 10.1016/j.jbiomech.2011.03.014
Minetti AE, Cisotti C, Mian OS.Although the 3D trajectory of the body centre of mass during ambulation constitutes the 'locomotor signature' at different gaits and speeds for humans and other legged species, no quantitative method for its description has been proposed in the literature so far. By combining the mathematical discoveries of Jean Baptiste Joseph Fourier (1768-1830, analysis of periodic events) and of Jules Antoine Lissajous (1822-1880, parametric equation for closed loops) we designed a method simultaneously capturing the spatial and dynamical features of that 3D trajectory. The motion analysis of walking and r...
The difference in kinematics of horses walking, trotting and cantering on a flat and banked 10 m circle.
Equine veterinary journal    March 4, 2011   Volume 43, Issue 6 686-694 doi: 10.1111/j.2042-3306.2010.00334.x
Hobbs SJ, Licka T, Polman R.Locomotion adaptation mechanisms have been observed in horses, but little information is available in relation to banked and nonbanked curve locomotion, which might be important to optimise training environments. Objective: To determine if adaptation mechanisms in horses existed when moving on a banked compared to a flat curve and whether adaptation was similar in different gaits. Methods: Eight infrared cameras were positioned on the outside of a 10 m lungeing circle and calibrated. Retroreflective markers were used to define left and right metacarpus (McIII) and proximal phalanges (P1), meta...
Inertial properties of equine limb segments.
Journal of anatomy    February 28, 2011   Volume 218, Issue 5 500-509 doi: 10.1111/j.1469-7580.2011.01353.x
Nauwelaerts S, Allen WA, Lane JM, Clayton HM.Quantifying the dynamics of limb movements requires knowledge of the mass distribution between and within limb segments. We measured segment masses, positions of segmental center of mass and moments of inertia of the fore and hind limb segments for 38 horses of different breeds and sizes. After disarticulation by dissections, segments were weighed and the position of the center of mass was determined by suspension. Moment of inertia was measured using a trifilar pendulum. We found that mass distribution does not change with size for animals under 600 kg and report ratios of segmental masses to...
Grip and limb force limits to turning performance in competition horses.
Proceedings. Biological sciences    December 8, 2010   Volume 278, Issue 1715 2105-2111 doi: 10.1098/rspb.2010.2395
Tan H, Wilson AM.Manoeuverability is a key requirement for successful terrestrial locomotion, especially on variable terrain, and is a deciding factor in predator-prey interaction. Compared with straight-line running, bend running requires additional leg force to generate centripetal acceleration. In humans, this results in a reduction in maximum speed during bend running and a published model assuming maximum limb force as a constraint accurately predicts how much a sprinter must slow down on a bend given his maximum straight-line speed. In contrast, greyhounds do not slow down or change stride parameters dur...
Quantifying show jumping horse rider expertise using IMUs. Patterson M, Doyle J, Cahill E, Caulfield B, McCarthy Persson U.Horse rider ability has long been measured using horse performance, competition results and visual observation. Scientific methods of measuring rider ability on the flat are emerging such as measuring position angles and harmony of the horse-rider system. To date no research has quantified rider ability in show jumping. Kinematic analysis and motion sensors have been used in sports other than show jumping to measure the quality of motor control patterns in humans. The aim of this study was to quantify rider ability in show jumping using body-mounted IMUs. Preliminary results indicate that ther...
Kinematic analysis of equine masticatory movements: comparison before and after routine dental treatment.
Veterinary journal (London, England : 1997)    October 23, 2010   Volume 190, Issue 1 49-54 doi: 10.1016/j.tvjl.2010.09.014
Simhofer H, Niederl M, Anen C, Rijkenhuizen A, Peham C.The objective of this study was to compare masticatory movements before and after dental treatment using kinematic analysis. The masticatory movements of 15 adult Warmblood horses with mild dental pathology chewing standardised hay were recorded on three consecutive days before and three times after (days 7, 21, 28) dental correction. The results of the leading mandibular tracking marker, located at the caudal edge of the inter-mandibular suture, were compared statistically. Reproducibility of measurements prior to dental treatment was excellent (P<0.05). Rostrocaudal mandibular motion was ...
The relationship between in vivo limb and in vitro tendon mechanics after injury: a potential novel clinical tool for monitoring tendon repair.
Equine veterinary journal    September 29, 2010   Volume 43, Issue 4 418-423 doi: 10.1111/j.2042-3306.2010.00303.x
Dakin SG, Jespers K, Warner S, O'Hara LK, Dudhia J, Goodship AE, Wilson AM, Smith RK.Highly prevalent superficial digital flexor tendon (SDFT) injury results in compromised tendon function through fibrosis and high frequency of re-injury due to altered biomechanical function. This study investigated the consequences of SDF tendinopathy on limb mechanics in relation to the mechanical properties of injured tendon. Objective: To develop and validate a noninvasive in vivo assessment of tendon mechanics to investigate the effect of recent SDFT injury on limb stiffness index, providing an objective method to assess quality of healing. Objective: Limb stiffness index would reduce as ...
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