Biomechanical analysis of Karate techniques basedon the evaluation of the body kinetic energy from                 3D moca...
What is Virtual Sensei?      In-house developed software for instrumented and objective      3D biomechanical analysis of ...
What is Virtual Sensei?      In-house developed software for instrumented and objective      3D biomechanical analysis of ...
What is Virtual Sensei?      In-house developed software for instrumented and objective      3D biomechanical analysis of ...
What is Virtual Sensei?      In-house developed software for instrumented and objective      3D biomechanical analysis of ...
What is Virtual Sensei?      In-house developed software for instrumented and objective      3D biomechanical analysis of ...
What is Virtual Sensei?      In-house developed software for instrumented and objective      3D biomechanical analysis of ...
What is Virtual Sensei?      In-house developed software for instrumented and objective      3D biomechanical analysis of ...
Project goals      Evaluation of the kinetic energy levels achieved in different      techniques (chosen index of performan...
Project goals      Evaluation of the kinetic energy levels achieved in different      techniques (chosen index of performan...
Project goals      Evaluation of the kinetic energy levels achieved in different      techniques (chosen index of performan...
Project goals      Evaluation of the kinetic energy levels achieved in different      techniques (chosen index of performan...
Project goals      Evaluation of the kinetic energy levels achieved in different      techniques (chosen index of performan...
Why Kinetic Energy?                                                Kinetic energy of a rigid body:                        ...
Why Kinetic Energy?     Kinetic energy is an impartial parameter (not only velocity,     but also body mass and geometry)....
Tools for sports club coaches  Virtual Sensei Lite is a free version of our software, based on  Microsoft Kinect sensor. I...
Experimental setup   Setup with 8 infrared high speed                  The athlete and the skeleton on   (100 fps) cameras...
3D animated skeleton  Examples:              Timmi, Pennestr` Valentini, Aschieri                             ı,          ...
Case 1     Influence of target pad on gyaku tsuki kinetic energy levels                             Click to play the video...
Case 1: description          Figure: Michela Pezzetti, Italian National Karate Team  Method:      comparison of the gyaku ...
Case 1: description          Figure: Michela Pezzetti, Italian National Karate Team  Method:      comparison of the gyaku ...
Case 1: overall results  Data: 6 series (3 with and 3 without target pad) of gyaku tsuki +  tate shuto uke (required to re...
Case 1: overall results  Data: 6 series (3 with and 3 without target pad) of gyaku tsuki +  tate shuto uke (required to re...
Case 1: overall results  Data: 6 series (3 with and 3 without target pad) of gyaku tsuki +  tate shuto uke (required to re...
Case 1: overall results  Data: 6 series (3 with and 3 without target pad) of gyaku tsuki +  tate shuto uke (required to re...
Case 1: analysis of the single technique  Without target pad: over-rotation of the trunk due to inertia.  Counter-rotation...
Case 1: analysis of the single technique  Without target pad: over-rotation of the trunk due to inertia.  Counter-rotation...
Case 2         Biomechanical analysis of 2 variants of the gyaku tsuki                               Click to play the vid...
Case 2: description                                                         r3                                  returning ...
Case 2: overall results  Preliminary results of the analysis of 6 series of 11 gyaku tsuki  (blue circles) + 11 oi tsuki (...
Case 2: overall results  Preliminary results of the analysis of 6 series of 11 gyaku tsuki  (blue circles) + 11 oi tsuki (...
Case 2: overall results  Preliminary results of the analysis of 6 series of 11 gyaku tsuki  (blue circles) + 11 oi tsuki (...
Case 2: analysis of the single technique  Sample analysis of a single technique: most energetic gyaku  tsuki, lateral vari...
Case 3            Combination of kizami tsuki + gyaku tsuki                           Click to play the video         Timm...
Case 3: overall results                                                0.71 s               0.92 s            1.00 s      ...
Case 3: overall results                                                0.71 s               0.92 s            1.00 s      ...
Case 3: overall results                                                0.71 s               0.92 s            1.00 s      ...
Case 3: overall results                                                                            #1 Hips local Z angular...
Case 3: overall results                                                                                                   ...
Conclusions     Virtual Sensei software allows performing quantitative     biomechanical analysis of fast sports motions; ...
Q/A              Thanks for your kind attention. Questions? The authors wish to acknowledge the athletes of the Italian Na...
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Biomechanical analysis of Karate techniques based on the evaluation of the body kinetic energy from 3D mocap data

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1st IMACSSS International Conference - "Game, Drama, Ritual in Martial Arts and Combat Sports". Genova (Genoa, Italy) 8-10 June 2012.

Speaker: Alessandro Timmi.

Authors: Alessandro Timmi, Prof. Ettore Pennestrì, Prof. Pier Paolo Valentini (Dept. of Industrial Engineering, University of Rome Tor Vergata), Prof. Pierluigi Aschieri (coach of the Italian Karate Team, FIJLKAM).

You will find the video of the presentation on:
http://www.virtualsensei.it/imacsss-conference-presentation/

© 2012 Virtual Sensei

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Biomechanical analysis of Karate techniques based on the evaluation of the body kinetic energy from 3D mocap data

  1. 1. Biomechanical analysis of Karate techniques basedon the evaluation of the body kinetic energy from 3D mocap data Eng. Alessandro Timmi, Prof. Ettore Pennestr` ı, Prof. Pier Paolo Valentini and Prof. Pierluigi Aschieri University of Rome Tor Vergata, Dept. of Industrial Engineering, in collaboration with the Italian National Karate Team June 9, 2012 Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  2. 2. What is Virtual Sensei? In-house developed software for instrumented and objective 3D biomechanical analysis of fast motions. Performance parameters monitored: velocities; accelerations; kinetic energy; position of the body center of mass (COM); pelvis rotation axis. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  3. 3. What is Virtual Sensei? In-house developed software for instrumented and objective 3D biomechanical analysis of fast motions. Performance parameters monitored: velocities; accelerations; kinetic energy; position of the body center of mass (COM); pelvis rotation axis. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  4. 4. What is Virtual Sensei? In-house developed software for instrumented and objective 3D biomechanical analysis of fast motions. Performance parameters monitored: velocities; accelerations; kinetic energy; position of the body center of mass (COM); pelvis rotation axis. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  5. 5. What is Virtual Sensei? In-house developed software for instrumented and objective 3D biomechanical analysis of fast motions. Performance parameters monitored: velocities; accelerations; kinetic energy; position of the body center of mass (COM); pelvis rotation axis. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  6. 6. What is Virtual Sensei? In-house developed software for instrumented and objective 3D biomechanical analysis of fast motions. Performance parameters monitored: velocities; accelerations; kinetic energy; position of the body center of mass (COM); pelvis rotation axis. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  7. 7. What is Virtual Sensei? In-house developed software for instrumented and objective 3D biomechanical analysis of fast motions. Performance parameters monitored: velocities; accelerations; kinetic energy; position of the body center of mass (COM); pelvis rotation axis. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  8. 8. What is Virtual Sensei? In-house developed software for instrumented and objective 3D biomechanical analysis of fast motions. Performance parameters monitored: velocities; accelerations; kinetic energy; position of the body center of mass (COM); pelvis rotation axis. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  9. 9. Project goals Evaluation of the kinetic energy levels achieved in different techniques (chosen index of performance). Critical review and optimization of the body motions. Recording of elite athletes’ performances. Development of instruments for sports club coaches. Prevention of athletes’ wear and injuries. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  10. 10. Project goals Evaluation of the kinetic energy levels achieved in different techniques (chosen index of performance). Critical review and optimization of the body motions. Recording of elite athletes’ performances. Development of instruments for sports club coaches. Prevention of athletes’ wear and injuries. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  11. 11. Project goals Evaluation of the kinetic energy levels achieved in different techniques (chosen index of performance). Critical review and optimization of the body motions. Recording of elite athletes’ performances. Development of instruments for sports club coaches. Prevention of athletes’ wear and injuries. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  12. 12. Project goals Evaluation of the kinetic energy levels achieved in different techniques (chosen index of performance). Critical review and optimization of the body motions. Recording of elite athletes’ performances. Development of instruments for sports club coaches. Prevention of athletes’ wear and injuries. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  13. 13. Project goals Evaluation of the kinetic energy levels achieved in different techniques (chosen index of performance). Critical review and optimization of the body motions. Recording of elite athletes’ performances. Development of instruments for sports club coaches. Prevention of athletes’ wear and injuries. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  14. 14. Why Kinetic Energy? Kinetic energy of a rigid body: 1 1 E = mvT v + ω T Jω (1) 2 2 where: m = mass (kg ); v = velocity (m/s); J = moment of inertia tensor (kg · m2 ); ω = angular velocity (s −1 ). Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  15. 15. Why Kinetic Energy? Kinetic energy is an impartial parameter (not only velocity, but also body mass and geometry). Virtual Sensei calculates translational and rotational kinetic energy of all body segments Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  16. 16. Tools for sports club coaches Virtual Sensei Lite is a free version of our software, based on Microsoft Kinect sensor. It is a useful instrument for sports club coaches (not part of this presentation!). Free download on virtualsensei.it/lite Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  17. 17. Experimental setup Setup with 8 infrared high speed The athlete and the skeleton on (100 fps) cameras the pc screen Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  18. 18. 3D animated skeleton Examples: Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  19. 19. Case 1 Influence of target pad on gyaku tsuki kinetic energy levels Click to play the video Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  20. 20. Case 1: description Figure: Michela Pezzetti, Italian National Karate Team Method: comparison of the gyaku tsuki in zenkutsu dachi performed with and without the soft target pad. Goal: evaluation of the influence of the target pad on kinetic energy released by the athlete. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  21. 21. Case 1: description Figure: Michela Pezzetti, Italian National Karate Team Method: comparison of the gyaku tsuki in zenkutsu dachi performed with and without the soft target pad. Goal: evaluation of the influence of the target pad on kinetic energy released by the athlete. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  22. 22. Case 1: overall results Data: 6 series (3 with and 3 without target pad) of gyaku tsuki + tate shuto uke (required to return to the original position). Results: +9% average kinetic energy with the target pad; constant hand speed in all the series (about 6 m/s); the angular velocity of the pelvis is constant too (9 − 10 rad/s). Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  23. 23. Case 1: overall results Data: 6 series (3 with and 3 without target pad) of gyaku tsuki + tate shuto uke (required to return to the original position). Results: +9% average kinetic energy with the target pad; constant hand speed in all the series (about 6 m/s); the angular velocity of the pelvis is constant too (9 − 10 rad/s). Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  24. 24. Case 1: overall results Data: 6 series (3 with and 3 without target pad) of gyaku tsuki + tate shuto uke (required to return to the original position). Results: +9% average kinetic energy with the target pad; constant hand speed in all the series (about 6 m/s); the angular velocity of the pelvis is constant too (9 − 10 rad/s). Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  25. 25. Case 1: overall results Data: 6 series (3 with and 3 without target pad) of gyaku tsuki + tate shuto uke (required to return to the original position). Results: +9% average kinetic energy with the target pad; constant hand speed in all the series (about 6 m/s); the angular velocity of the pelvis is constant too (9 − 10 rad/s). Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  26. 26. Case 1: analysis of the single technique Without target pad: over-rotation of the trunk due to inertia. Counter-rotation required! consistent negative angular velocity; waste of rotational kinetic energy. With target pad: sudden stop of the pelvis rotation: optimized motion: reduction of the negative angular velocity; rotational kinetic energy saving. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  27. 27. Case 1: analysis of the single technique Without target pad: over-rotation of the trunk due to inertia. Counter-rotation required! consistent negative angular velocity; waste of rotational kinetic energy. With target pad: sudden stop of the pelvis rotation: optimized motion: reduction of the negative angular velocity; rotational kinetic energy saving. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  28. 28. Case 2 Biomechanical analysis of 2 variants of the gyaku tsuki Click to play the video Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  29. 29. Case 2: description r3 returning arm (slow) returning arm (slow) r1 trunk trunk r2 r1 punching arm (fast) punching arm (fast) 1st variant: central axis 2nd variant: lateral axis Method: comparison of the 2 variants of gyaku tsuki in zenkutsu-dachi. Goal: evaluation of the influence of the rotation axis position on kinetic energy released by the athlete. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  30. 30. Case 2: overall results Preliminary results of the analysis of 6 series of 11 gyaku tsuki (blue circles) + 11 oi tsuki (required to return to the original position): +3% average kinetic energy in the lateral variant; +9% punching hand speed in the lateral variant (considering the most energetic punch for each series); highest pelvis angular velocity in the central variant = more punches in the same time. Total kinetic energy (KE) − Entire body Total kinetic energy (KE) − Entire body 60 Virtual Tk 60 Sensei Virtual peaks = 11, mean Tk = 46.75 J X: 442 Sensei Y: 56.84 Tt X: 298 50 Y: 57.08 Tr 50 peaks = 11, mean Tk = 39.57 J 40 Kinetic energy [J] 40 Kinetic energy [J] 30 30 20 20 VivianaBottaro Tk VivianaBottaro 10 sex: f 10 sex: f 48 kg Tt 48 kg 1.55 m 1.55 m RGyakuCentral1 Tr RGyakuLateral1 0 0 500 1000 1500 2000 0 500 1000 1500 2000 2500 3000 Time [s⋅10−2] Time [s⋅10−2] Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  31. 31. Case 2: overall results Preliminary results of the analysis of 6 series of 11 gyaku tsuki (blue circles) + 11 oi tsuki (required to return to the original position): +3% average kinetic energy in the lateral variant; +9% punching hand speed in the lateral variant (considering the most energetic punch for each series); highest pelvis angular velocity in the central variant = more punches in the same time. Total kinetic energy (KE) − Entire body Total kinetic energy (KE) − Entire body 60 Virtual Tk 60 Sensei Virtual peaks = 11, mean Tk = 46.75 J X: 442 Sensei Y: 56.84 Tt X: 298 50 Y: 57.08 Tr 50 peaks = 11, mean Tk = 39.57 J 40 Kinetic energy [J] 40 Kinetic energy [J] 30 30 20 20 VivianaBottaro Tk VivianaBottaro 10 sex: f 10 sex: f 48 kg Tt 48 kg 1.55 m 1.55 m RGyakuCentral1 Tr RGyakuLateral1 0 0 500 1000 1500 2000 0 500 1000 1500 2000 2500 3000 Time [s⋅10−2] Time [s⋅10−2] Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  32. 32. Case 2: overall results Preliminary results of the analysis of 6 series of 11 gyaku tsuki (blue circles) + 11 oi tsuki (required to return to the original position): +3% average kinetic energy in the lateral variant; +9% punching hand speed in the lateral variant (considering the most energetic punch for each series); highest pelvis angular velocity in the central variant = more punches in the same time. Total kinetic energy (KE) − Entire body Total kinetic energy (KE) − Entire body 60 Virtual Tk 60 Sensei Virtual peaks = 11, mean Tk = 46.75 J X: 442 Sensei Y: 56.84 Tt X: 298 50 Y: 57.08 Tr 50 peaks = 11, mean Tk = 39.57 J 40 Kinetic energy [J] 40 Kinetic energy [J] 30 30 20 20 VivianaBottaro Tk VivianaBottaro 10 sex: f 10 sex: f 48 kg Tt 48 kg 1.55 m 1.55 m RGyakuCentral1 Tr RGyakuLateral1 0 0 500 1000 1500 2000 0 500 1000 1500 2000 2500 3000 Time [s⋅10−2] Time [s⋅10−2] Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  33. 33. Case 2: analysis of the single technique Sample analysis of a single technique: most energetic gyaku tsuki, lateral variant: Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  34. 34. Case 3 Combination of kizami tsuki + gyaku tsuki Click to play the video Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  35. 35. Case 3: overall results 0.71 s 0.92 s 1.00 s 1.14 s Total kinetic energy (KE) − Entire body 300 Virtual Sensei Tk Best execution among 6 kizami X: 92 Tt 250 Y: 273.8 Tr tsuki + gyaku tsuki: 200 high kinetic energy peakKinetic energy [J] Sara Cardin (274 kJ), due to the body 150 sex: f X: 100 Y: 111.9 X: 114 55 kg translation; Y: 103.1 1.55 m Kizami Gyaku 100 the sum of the two 50 X: 71 Y: 40.49 techniques produces a total amount of 377 kJ. 0 0 50 100 150 ı, 200 250 Timmi, Pennestr` Valentini, Aschieri Virtual Sensei
  36. 36. Case 3: overall results 0.71 s 0.92 s 1.00 s 1.14 s Total kinetic energy (KE) − Entire body 300 Virtual Sensei Tk Best execution among 6 kizami X: 92 Tt 250 Y: 273.8 Tr tsuki + gyaku tsuki: 200 high kinetic energy peakKinetic energy [J] Sara Cardin (274 kJ), due to the body 150 sex: f X: 100 Y: 111.9 X: 114 55 kg translation; Y: 103.1 1.55 m Kizami Gyaku 100 the sum of the two 50 X: 71 Y: 40.49 techniques produces a total amount of 377 kJ. 0 0 50 100 150 ı, 200 250 Timmi, Pennestr` Valentini, Aschieri Virtual Sensei
  37. 37. Case 3: overall results 0.71 s 0.92 s 1.00 s 1.14 s Total kinetic energy (KE) − Entire body 300 Virtual Sensei Tk Best execution among 6 kizami X: 92 Tt 250 Y: 273.8 Tr tsuki + gyaku tsuki: 200 high kinetic energy peakKinetic energy [J] Sara Cardin (274 kJ), due to the body 150 sex: f X: 100 Y: 111.9 X: 114 55 kg translation; Y: 103.1 1.55 m Kizami Gyaku 100 the sum of the two 50 X: 71 Y: 40.49 techniques produces a total amount of 377 kJ. 0 0 50 100 150 ı, 200 250 Timmi, Pennestr` Valentini, Aschieri Virtual Sensei
  38. 38. Case 3: overall results #1 Hips local Z angular velocity 12 Virtual Sensei 10 X: 107 Y: 10.53 8 Sara Cardin 6 sex: f Local ωz [rad/s] 55 kg 4 1.55 m Kizami Gyaku 2 0 −2 −4 −6 0 50 100 150 200 250 1.07 s Time [s⋅10−2] Max pelvis angular velocity: transition between kizami and gyaku tsuki. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  39. 39. Case 3: overall results The hands speed peaks are synchro- 8 #5 Left Hand velocity norm 8 #7 Right Hand velocity norm nized with Virtual Virtual 7 Sensei X: 93 Y: 7.449 7 Sensei X: 117 those of Y: 7.245 6 6 body kinetic 5 Sara Cardin sex: f 5 Sara Cardin energy. vG [m/s] vG [m/s] 55 kg 1.55 m sex: f 4 4 Kizami Gyaku 55 kg 1.55 m 3 3 Kizami Gyaku 2 2 1 1 0 0 0 50 100 150 200 250 0 50 100 150 200 250 Time [s⋅10−2] Time [s⋅10−2] Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  40. 40. Conclusions Virtual Sensei software allows performing quantitative biomechanical analysis of fast sports motions; further studies on elite athletes required to confirm these preliminary results. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei
  41. 41. Q/A Thanks for your kind attention. Questions? The authors wish to acknowledge the athletes of the Italian National Karate Team for the fruitful collaboration during the experimental sessions. Timmi, Pennestr` Valentini, Aschieri ı, Virtual Sensei

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