Joint Axes
Experiments Hip


 Outer Optimization
Parallel Particle Swarm


Knee


 Outer Optimization
SParallel Particle Swarm


izalion
squares
I II


nation
uares
2


Figure 3-8. Two-level optimization technique minimizing the 3D marker coordinate
 errors between the kinematic model markers and experimental marker data to
 determine functional joint axes for each lower-extremity joint.


Ankle Outer Optimization
 -' Parallel Particle Swarm



 Processor # 20 Inner Optimizalion
 SNonlinear Least Squares

 SProcessor # Opiz Inner Optimization L
 SNonlinear Least Squares

 Processor f 2 Inner Optimization /
 T Nonlinear Least Squares

 Processor # 1 Inner Optimization
 Nonlinear Least Squares


V


 Error Time j
 Error Time J f /
 a Error Time n/
Error Time #2
Frame #1


a


111