Over the past several decades, a relative shift has occurred in the field of physical therapy and rehabilitation medicine. In contrast to traditional assessments of osteoarthritis of the knee, to be sure, which have focused largely on the ability of individuals to generate motor output, a greater emphasis is now being placed on sensory feedback acuity. This fundamental change is likely the result of our growing understanding regarding the role sensory information plays in promoting neural plasticity through use-dependent mechanisms. Arguably the most important source of feedback for promoting neural plasticity is our sense of proprioception. Proprioception can be defined as the ability of an individual to determine body segment positions and movements in space and is based on sensory signals provided to the brain from muscle, joint, and skin receptors.

1. Faculty of Human Kinetics
Technical University of Lisbon
Neuromechanics Research
Group
Wangdo Kim1, Stephen Howell2, and Young Choi3
1 Univ Tecn Lisboa, Fac Motricidade Humana, CIPER, LBMF, SPERTLAB,
Estrada da Costa, P-1499-002 Lisbon, Portugal
2University of California, Davis · Department of Mechanical and Aerospace
Engineering
2Biomedical Engineering Graduate Group, University of
California, Davis, Davis, CA, USA
3School of Mechanical Engineering, Chung-Ang University, Seoul Korea
Measuring Proprioceptive
Information
X
Y
Z
X

2. BIOMECHANICS AND FUNCTIONAL
MORPHOLOGY LABORATORY
Impingement of the graft
fff(Reprinted with permission
from Stephen M. Howell

3. Howell SM. 1998. Principles for placing the tibial tunnel and avoiding roof impingement during reconstruction of a torn anterior
cruciate ligament. Knee Surgery, Sports Traumatology, Arthroscopy 6:S49-S55.

4. Freddie H. Fu, M.D.,(傅浩強; pinyin: Fù Hàoqiáng) is a pioneer and
authority in sports medicine and recognized as a preeminent leader in
orthopaedic surgery and sports medicine across the globe
Fu FH, Karlsson J. 2010. A long journey to be anatomic. Knee Surg Sports Traumatol Arthrosc 18:1151-1153.

5. BIOMECHANICS AND FUNCTIONAL
MORPHOLOGY LABORATORY
Aims
 The importance of Information in action
(Evolutionary Effects and Behavioral Acts)
 The difference between perceptual system
and behavioral system is very important
for the sense psychology but it has not
been emphasized in biomechanics, and
particularly in the experimental literature.

6. Movement is of two general types,
exploratory and performatory, the first
serving perception and the second
behavior.
James Jerome Gibson (January 27, 1904–
December 11, 1979), was an American
psychologist
Edward S. Reed (November 20, 1954 -
February 14, 1997) was a philosopher of
science and an ecological psychologist in the
vein of James J. Gibson.
Eleanor J. Gibson (December 7,
1910 – December 30, 2002) was an
American psychologist
Theory of Action Sensitivity
Nakayama, Ken , James J. Gibson: An appreciation. Psychological Review, Vol 101(2), Apr 1994, 329-335.

7. The Basic Orienting System
Gibson JJ. 1966. The senses considered as
perceptual systems: Houghton Mifflin.

8. The Statocyst in Relation to Other
Organs

9. The Limitations of the Vestibular
Apparatus

10. The frog never falls into the water
Ronald A. Howard Dynamic Programming
and Markov Processes, The M.I.T. Press,
1960.

12. Haptic Perception-Action Coupling Manifold of
Effective Golf Swing
Y
X
Z
X
Y
Z
O
MC
C
f
Cτ
α
aC
A
T
m1 H
H I
 
  
 
OM
0.788 0 0 0 29.241 1.001
0 0.788 0 29.241 0 1.108
0 0 0.788 1.001 1.108 0
0 29.241 1.001 2855.908 5.206 123.719
29.241 0 1.108 5.206 2859.116 111.823
1.001 1.108 0 123.719 111.823 20.966
  
 
 
 
 
 
   
 
 
 
=
=

13. The eigenvalue problem provides
a unique decomposition of as
m1 H 0 0 0
0H J
T
f
T O
f m f
M
m
   
     
       
         

14. :
-100 0
100 200 300
0
50
100
150
-100
-50
0
50
100
150
200
250
300
350
1
Ant
Pos
Z (cm)
Y (cm)
X (cm)
C
Y (cm)
X (cm)
The question is how do golfers go from the
perception of inertias of the club to perception
of what they afford?

15. 1
Ant
Pos
Y (cm)
Z (cm)
X (cm)
D
Y (cm)
X (cm)
the goal-directedness of behavior is captured
The second aim of our study was to apply the
perception-action coupling manifold to
contrast how an expert and a novice player
move across the information manifold of
perception and action to produce a golf swing
(Lagarde, Kelso, Peham, & Licka, 2005).

16. Touch and Posture are Covariant
x
y
o
1
2
3
4
x
y
o
a
a
b
b
1
2
3
4
x
y
o
a
a
b
b
1
2
3
4

17. "You think too much."
x
y
o
1
2
3
4
x
y
o
a
a
b
b
1
2
3
4
x
y
o
a
a
b
b
1
2
3
4

18. Tolerance Analysis
2
2
4
X
Y
Z
x
x
x
y
yy
zz
f2
f1
• Assembly DOF and Constraint Solution
F1
1 0 0 2
0 1 0 2
0 0 1 0
0 0 0 1













F2
0 1 0 2
1 0 0 6
0 0 1 0
0 0 0 1














 TResultant  0 0 1 2 2 0
WResultant 












0 1 0 0 0 2
0 0 1 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0Taken From [Adams and Whitney 2001]

19. A hand feeling a pair of scissors

20. Perceptive motion: The principle of duality
Force and rotation are remarkably similar
The lack of duality The concept of “aggregate”
Griffis M, Rico JM. 2003. The nut in screw theory. Journal of Robotic Systems 20:437-476.
Plücker J, Klein F. 1868. Neue geometrie des raumes gegründet auf die betrachtung der geraden
linie als raumelement Erste-[zweite] Abtheilung. In. Leipzig: B. G. Teubner.

21. Screw coordinates: Recall that a screw is a line plus a scalar
pitch. How should we represent it.
The rule of representation at different points
Ciblak, N. (1998). Analysis of Cartesian stiffness and compliance with applications, PhD. Dissertation,
Georgia Institute of Technology, U.S.A.

22. Projective Space P2
P3
P5

23. The Ball–Disteli diagram and its relevance to
instantaneous axis of knee
Sir Robert Stawell Ball (1840-
1913)
Martin Disteli, (1862-1923)
Dresden, Karlsruhe
Ball R. 1900. A treatise on the theory of screws: Cambridge University Press.
Jessop CM. 1903. Treatise on the Line Complex: American Mathematical Society.

24. Cylindroid with one screw of infinite pitch
A treatise on the theory of screw p22
Sir Robert Ball, First published 1900

25. The screw is a geometrical element on
its own right
the linear line complex (LLC)of an Instantaneous screw
Gibson, James J.,The concept of the
stimulus in psychology.
American Psychologist, Vol 15(11), Nov
1960, 694-703.
Huang C, Kuo W, Ravani B. 2008. On the

26. Fiber tractography imaging and LLC
superabundance
Individual muscle fiber
p
pole
polar plane q
Kim W, Espanha M, Veloso A, Araújo D, João F. 2013a. An Informational Algorithm as the Basis for Perception-
Action Control of the Instantaneous Axes of the Knee. J Nov Physiother 3:2.

27. the units of anatomy are not the units
of function
Etymology of Anatomy
Tomnein-To cut
Tomia-Cutting
Ana-Up
Anatomy-To Cut Up
Vastus Lateralis-The Enormous Side
Vastus Medialis-The Enormous Middle
Anatomy. Named parts, not Function: Julian Baker, www.functionalfascia.com

28. Information theory
knee complex in involution as the
organs of sensitivity
Kim W, Kohles SS. 2012. A reciprocal connection factor for assessing knee-joint function. Computer
Methods in Biomechanics and Biomedical Engineering 15:911-917.
𝐴𝑟𝑡𝑖𝑐𝑢𝑙𝑎𝑟 𝑠𝑐𝑎𝑛𝑛𝑖𝑛𝑔 =
𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑚𝑢𝑠𝑐𝑢𝑙𝑎𝑟 𝑎𝑐𝑡𝑖𝑣𝑖𝑡𝑦
𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑗𝑜𝑖𝑛𝑡 𝑠𝑡𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛
MCL
P1
PCL
ACL
P2
LCL
=0

29. The sensitivity of touch to kinesthesis
Kim W, Veloso A, Araújo DK, SS. 2015. Novel computational approaches characterizing knee physiotherapy. Journal of
Computational Design and Engineering 1:55-66
(sensitivity)1 = knee twist-amplitudes divided by
the amplitude of the twist of the foot = ∞
(sensitivity)2 = knee actuator wrench-intensities
divided by the intensity of the foot wrench = 0
.
𝑇𝑎𝑐𝑡𝑖𝑙𝑒 𝑠𝑐𝑎𝑛𝑛𝑖𝑛𝑔 =
𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑚𝑜𝑡𝑜𝑟 𝑎𝑐𝑡𝑖𝑣𝑖𝑡𝑦
𝑣𝑎𝑟𝑖𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑠𝑘𝑖𝑛 𝑠𝑡𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛

30. Relationship between two bodies in
contact for motion transmission
between parallel axes
Dooner DB. 2002. On the Three Laws of Gearing. Journal of Mechanical Design 124:733-744.
Common normal to
the point of contact
Pitch Point

31. The Ball-Disteli diagram
S
T
IAK
X
Z (mm)
Y
0
bb

32. Computational framework to predict the constraint
forces was shown with the proposed knee model.
Judicious choices of the virtual displacement (i.e. IAK)
are crucial because the principle of virtual work for static
equilibrium was applied on these special axes among
tentative axes.
Knee X-ray
Movement coordinates of
the shank and thigh
(x,y,z)
Ground reaction forces
with COP
Screw
axes of
the
shank
Screw
axes of
the
thigh
Screw
axes of
the
knee
Reciprocally connected knee model
Virtual work
for static
equilibrium
Constraint forces
Reciprocal
configuration
diagram
Input Output
Step 1 Step 2 Step 3

33. : A special line complex is the linear line complex defined by a single twist . Every marker point of
the segment has its velocity vector tangential to the helix that passes through it. The pattern of this
velocity vector is a helicoidal velocity field. Each marker point that does not coincide with the twist
axis of is referred to as a pole. Associated with each pole is its corresponding polar plane. Shown
are a polar plane and its corresponding pole as defined by the instantaneous screw axis .
The ISA used to transform the marker set to must be determined form cylindroids . and are two
twists of zero pitch on the cylindroid .
$ISA
pole
(marker)
polar plane

34. Observation of the lost degree of
freedom
twist about the two screw on S
and T on the cylindroids (S, T)
by a single twist about a single
screw
-100
0
100
200
300
400
-300
-200
-100
0
100
200
300
400
500
600
-400
-200
0
200
400
600
800
Knee instantaneous
axes
Ground reaction
forces
-50
0
50
100
150
200
250
300
200
220
240
260
280
300
320
-500
-400
-300
-200
-100
0
100
200
300
X (mm)
Y (mm)
Z (mm)
-50
0
50
100
-100
-50
0
50
100
-50
0
50
100
150
200
Lat
1
(a)
X (mm)Y (mm)
Z (mm)
-300
-200
-100
0
100
-100
-50
0
50
100
-50
0
50
100
150
200
250
Lat
1
(b)
X (mm)Y (mm)
Z (mm)
Kim W, Veloso AP, Araújo D, Vleck V, João F. 2013. An informational framework to predict reaction of constraints
using a reciprocally connected knee model. Computer Methods in Biomechanics and Biomedical Engineering:1-
12.

35. A comparison between the results of our theoretical approach
and data gathered from an instrumented knee during trunk-sway
gait trials (Fregly et al., 2012).
four contenders worldwide at the 2010 ASME Summer Bioengineering Conference, hosting a
"Grand Challenge Competition to Predict In Vivo Knee Loads"
at the lateral contact are compared with RMS
error being 148.1 N.
at the medial contact are compared with
RMS error being 147.3N
-100
0
100
200
300
400
500
600
700
0 20 40 60 80 100
Predicted
Measured
0
200
400
600
800
1000
1200
0 20 40 60 80 100
Predicted
Measured

36. The position and size of drilling of the
tibial femoral tunnel can be
customized
0 0.2 0.4 0.6 0.8 1
-100
-80
-60
-40
-20
0
20
40
60
80
100
Z(mm)
X (mm)
Y (mm)
-0.2-0.15-0.1-0.0500.050.10.150.2
-100
-80
-60
-40
-20
0
20
40
60
80
100
Z(mm)
Y (mm)
X (mm)
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
0 0.2 0.4 0.6 0.8 1
X(mm)
Y (mm)
-0.2
-0.1
0
0.1
0.2 0
0.2
0.4
0.6
0.8
1
-100
-50
0
50
100
Z(mm)
X (mm)
Y (mm)
Knee
Thigh
Shank
Directrix 2
Directrix 1

37. Reconstructed system of knee complex
in involution
Blumensaat’s line
Point of contact c
F
V
T
V

38. BIOMECHANICS AND FUNCTIONAL
MORPHOLOGY LABORATORY
Conclusion
 The layout of physical surfaces, according to this
theory, is perceived by the way of the disposition
of body members when touch and posture are
covariant.
 The covariance of cutaneous and articular
motion is information in its own right.
 The units of anatomy are not the units of
function. The movement systems are
characterized by based primarily on purposes.

39. Fascia is this layer which is the
translator of our touch to the deeper
tissues beneath
My ultimate concerns arise from
those therapists who think that in
order to go deep you have to go in
hard. You don’t and you shouldn’t.
Julian Baker has been a hands on therapist for over 25 years. The founder of the European College of Bowen Studies, ECBS
Acknowledgement

40. Thank you!
Ask not what's inside your head, but what your head's inside of.
-- J.J. Gibson