3D Kinematics
This book presents an introduction to the analysis of general movements in 3D space, especially for movements of the human body. It is based on the lecture notes of a class on 3D Kinematics, which the author has been holding in the Master Degree Program o
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3D Kinematics
3D Kinematics
Thomas Haslwanter
3D Kinematics
123
Thomas Haslwanter School of Medical Engineering and Applied Social Sciences University of Applied Sciences Upper Austria Linz, Upper Austria Austria
Additional material to this book can be downloaded from http://extras.springer.com. ISBN 978-3-319-75276-1 ISBN 978-3-319-75277-8 https://doi.org/10.1007/978-3-319-75277-8
(eBook)
Library of Congress Control Number: 2018933478 © Springer International Publishing AG, part of Springer Nature 2018 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Switzerland AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
This book is dedicated to Klaus Hepp, without whom I would have never worked in 3D kinematics, and to Ian Curthoys, who gave me the opportunity to apply it to image processing and to explain the underlying mathematics to others.
Preface
This book presents an introduction to the measurement and analysis of general movements in three-dimensional (3-D) space, i.e., movements containing a rotation and a translation component. It only deals with the “kinematics” of the movements, i.e., the description of the spatial position and orientation of objects; the body “dynamics”, i.e., the description of the forces involved in the movements, are not dealt with here. I have been explaining 3-D kinematics to others almost as long as I can remember. First as a post-doc, when I was invited to write a review article on the mathematics of 3-D eye movements (Haslwanter 1995). Then to doctors, when we developed a computer program to simulate the effects of eye muscle surgeries on eye movements (Haslwanter et al. 2005). And more recently to students, while introducing them to the analysis of 3-D movement recordings. As a result of this background, the measu
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