CODA cx1 User Guide Charnwood Dynamics Limited Victoria Mills, Fowke Street, Rothley, Leicestershire, LE7 7PJ England Tel: +44 (0) 116 230 1060 Fax: +44 (0) 116 230 1857 Email: info@codamotion.com Web: http://www.codamotion.
CONTENTS Introduction Hardware Software PART I - CODA BASICS 1. Setting Up and Using the System Coda cx1 Scanner Units Siting the Scanner Units Interconnections Front Panel Computer Computer Specification – Mini Hub Operation Computer Specification – Active Hub Operation Mini Hub Unit Active Hub Unit Software Components System Configuration: Codasys.
Charnwood Dynamics Motion Analysis Force Platforms (Option) Hardware Configuration EMG (Option) Real-time Data Display Marker Positions Stick-figure View Force-plate Data EMG Data ADC Data Input Signal Data Digital Video Capture (Option) Interfacing with other Equipment (Option) 2.
Charnwood Dynamics Motion Analysis Graph View Working with plots Working with cursors Using static bars Expanding the data set Using data filtering Comments View Entering comments Editing comments Variables Creating and deleting variables Defining variables Viewing defined variables Exporting variables to other Windows applications 4/162
Charnwood Dynamics Motion Analysis PART II - GAIT ANALYSIS 1.
Charnwood Dynamics Motion Analysis 3.
Charnwood Dynamics Motion Analysis PART III - ADVANCED TOPICS 1. Using Virtual Markers Introduction Definition Assigning weights by model design (first category) Centres of mass Solving the localization of a known point into a rigid marker triad (second category) Validity Having successfully defined some Virtual Markers… 2. Using Vector Angles Defining two vectors Vectors on Stick Figures 3D Vector Angles 2D Vector Angles 3D angle on a stick figure view 3.
Charnwood Dynamics Motion Analysis PART IV - REFERENCE 1. Codamotion Analysis: User Interface Reference Main Frame Toolbar Menu Commands Keyboard controls Views 2. Movement Data File (MDF) Format Summary Identifier Header Data Data array types Data-type Notes Calculated data 3. Text Data File (TXT) Format Summary Saving data in Text format Loading Text data Coordinates Example Text data 4.
Charnwood Dynamics Motion Analysis 6.
Charnwood Dynamics Ltd. Coda cx1 User Guide Introduction One of the many benefits conferred upon Codamotion users is the economy of effort resulting from the many time-saving features and overall user-friendliness of the system. In spite of this, the task of installing and configuring the system for the first time may seem a daunting one.
Charnwood Dynamics Ltd. Coda cx1 User Guide Resolution The angular resolution of each camera is about 0.03 mrad (0.002 degrees); this results in a lateral position resolution of about 0.05mm at 3 metres distance (horizontally and vertically), and a distance resolution of about 0.3mm. Measurement Volume For standard markers, the measurement volume extends from a distance of 2.0m to about 6.0m in front of the measurement unit, at a width and height approximately 1.6 times the distance.
Charnwood Dynamics Ltd. Coda cx1 User Guide Marker position data may be filtered and interpolated before it is used to calculate angles and other derived data; the filtering bandwidth is user-selectable. Animated Stick-figure diagrams may be displayed for the view along any of the machine axes, using user-configured joins between markers. The animation rate is adjustable, and can be reversed.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 SETTING UP AND USING THE SYSTEM Coda cx1 Scanner Units Each Coda scanner unit contains three special cameras which detect infra-red pulses of light emitted by the Coda markers and locate the marker positions with very high resolution and linearity. The cameras are rigidly mounted in the scanner units so that the system can be precalibrated by Charnwood Dynamics before delivery to the customer.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 This cable should be plugged into the correspondingly marked sockets on the mini hub bulk head or Quad UART board and Coda scanner unit bulk head respectively. Front Panel On the front of each Coda scanner unit there are two LED indicator lights. The green LED signifies that the power is on. The yellow LED becomes illuminated only when the scanner unit is actively acquiring marker position data under control of the computer.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Computer Specification – Active Hub Operation When the Coda scanner is operated with an active hub unit, the host system controller forms part of the active hub and must be a compact PCI (cPCI) Single Board Computer (SBC) running Microsoft Windows 2000 or XP. A single slot 3U SBC is recommended with a processor speed of at least 500MHz. The SBC connects directly into a 3U cPCI backplane together with a Charnwood Dynamics Quad UART board.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 The Charnwood Dynamics Quad UART boards are fitted with four 26-way high density D sockets on the front panel for connection of the Coda interface cable(s). There are four Coda unit power on/off switches and associated green LED indicator lights. The LEDs show power to the Coda scanner unit(s) is on (the LEDs are only activated when there is a Coda unit plugged in). Two sync.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Software Components The required Codamotion system software will normally be installed on your computer by Charnwood Dynamics. Shortcuts to the Codamotion Analysis software applications should be available on the Windows desktop and/or on the Windows Start Menu. Hardware supported by Codamotion Analysis Software (V6.xx) • Up to 8 Coda cx1 units using two cPCI Quad UART boards in an active hub unit.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 The following files must be in a sub-folder named \Coda: C:\Codamotion\Coda\ CodaSharc_V3-xx.stk CX1001-Gains.cx1 CX1001-CalLUT-5.cx1 CX1001-CalGeom.dat CX1001-CorrelLUT-AL.cx1 CX1001-TemplLUT-A.dat CX1001-TNormLUT-A.dat - cx1 DSP program code (Version 3.xx) (hex) - cx1 calibration data (binary). - cx1 calibration data (binary). - cx1 calibration data (text). - cx1 correlation template (binary). - cx1 correlation template (hex).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Software Installation If an ADC-64 unit (on an ISA DSP card interface) is not to be used with the system, then software installation is merely a matter of copying the files into the appropriate directories (e.g. \Codamotion and \Codamotion\Coda). When installing files from an installation CD, the system configuration file on the CD is normally named Codasys_XXX.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Codamotion Analysis Version To check the Version number of Codamotion Analysis, either select Help: About Codamotion Analysis... from the program menu bar, or highlight the Codamotion Analysis Application (EXE) program file in Explorer and select File: Properties... Version tab. Data Files Data acquired by the Codamotion system is stored in data files on the computer’s hard disk. These usually have the filename extension ‘.MDF’.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 System Configuration: Codasys.cfg This file must be present for data acquisition. It specifies the number of Coda cx1 units to be used for acquisition, the interface type and the serial port(s) configuration(s). It also specifies the number and configuration of any ADC-64 acquisition units, cPCI data acquisition boards, Force platforms or EMG units being used.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 CommPacket=0x16 :11=5.0M, 10=2.5M, 8=1.0M, 7=460k, 4=115.2k, 0=9600 CommRate=11 Cameras=3 MaskType=3 :1=PseudoRandom, 2=LinearMask, 3=LinearMask Correlation Orientation=0 :0=Horizontal 1=Horiz.Inverted 2=Vertical(Top=A) 3=Vert(Top=C) DSPProgramFile=CODA\CodaSharc_V3-02.stk [CODA_2] SerialNumber=1002 CommPort=6 :11=5.0M, 10=2.5M, 8=1.0M, 7=460k, 4=115.
Charnwood Dynamics Ltd. BridgeVoltage=10.0 AmpGain=4000,8000 Coda cx1 User Guide – Coda Basics I-1 :AMTI/Bertec bridge excitation voltage (1.0 - 15.0) :AMTI/Bertec amplifier gain (low, high) Single Coda system with Portable Force platforms and EMG: :------------------------------------------------------------------: CODA Configuration for CODAmotion Analysis V6.
Charnwood Dynamics Ltd. CodaType=1 Interface=3 Coda cx1 User Guide – Coda Basics I-1 :1=Cx1, 2=Mpx30 :1=MiniHub+BB.RS422, 2=MiniHub+QuadUART.RS422, 3=ActiveHub(cPCI)+QuadUART CommPacket=0x16 :11=5.0M, 10=2.5M, 8=1.0M, 7=460k, 4=115.2k, 0=9600 CommRate=11 Cameras=3 MaskType=3 :1=PseudoRandom, 2=LinearMask, 3=LinearMask Correlation :0=Horiz 1=Horiz.Inverted 2=Vert(Top=A) 3=Vert(Top=C) Orientation=0 DSPProgramFile=CODA\CodaSharc_V3-02.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 [CodaSys] NumCoda The number of Coda units configured for data acquisition. If you have two Codas, you can temporarily de-configure [CODA_2] by setting NumCoda=1. NumADC Enables or disables the ADC-64 analogue acquisition unit or cPCI A/D board(s). NumForce Specifies the number of force platforms in use. NumEMG Specifies the number of EMG systems in use.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 DSPProgramFile The program code file which is down-loaded to the DSP32C processor. This may change when you receive software upgrades. CalFile ADC-64 calibration data file (gains and offsets). CX1 USER GUIDE - COMPLETE.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 [ForcePlate_1] (and [ForcePlate_2]) Type Force Plate type: 0=User defined, 1=9281B Kistler, 2=9286 Kistler…, 10=AMTI BP2416, 11=AMTI-LG6, 12=AMTI-OR6-7, 20=AMTI AccuSway/AccuGait, etc. Rotation The orientation of the plate relative to Coda. May be 0, 90, 180, or 270 degrees relative to normal (Force-plate x-axis = Coda Y-axis (perpendicular horizontal), y-axis = X-axis (parallel horizontal), x-axis = Z-axis (vertical)).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Start-up and Shut-down Procedures Start-up After ensuring all system hardware elements are connected appropriately, follow the startup procedure listed below: 1. Switch on power to the computer and monitor, and allow Microsoft Windows to start. 2. Switch on the Coda cx1 scanner units from the bulk head of the mini hub or the front panel of the Quad UART board, checking the green LED is on for each unit. 3.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 8-Marker Drive Boxes The 8-marker drive boxes can be powered either internally with rechargeable cells or externally from a 5 volt power pack. Each drive box has 8 small sockets into which individual markers can be plugged. A hex switch on the 8-marker drive box allows the operator to select which group of 8-marker identification numbers will apply to the markers connected to that box. Up to 56 markers can be used at any one time.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Operation When the scanner unit is not acquiring data (i.e. when the yellow LED on the scanner unit is not illuminated) very little current is being drawn from the batteries in the drive boxes. However, as soon as the scanner unit starts to send out control signals to the marker drive boxes (i.e. with the yellow LED now on) the rate of current consumption rises to about 50mA in each of the drive boxes if they have two LED markers attached.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Care should be exercised not to pull too strongly on the thin flexible leads of the LED markers. They are quite strong but there is obviously a limit to the strain they can withstand before being damaged. Particular care should be taken when removing markers and drive boxes from the subject after a measurement session.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Aligning the Coda cx1 Scanner Units The Codamotion Analysis program applies an offset and rotational transformation to the co-ordinates measured by each Coda, so as to reference them to a common room coordinate frame. When a single Coda unit is in use, the rotational transformation is optional, but the origin offset must be set for each measurement session (each time Codamotion Analysis is started). The origin location is not stored.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 on the walkway in front of Coda (two on the x-axis and one on the y-axis), and observe their co-ordinates with the real-time co-ordinate display (CODA: Display Marker Positions…). Rotate Coda about a vertical axis to equalize the y-co-ordinates of the xaxis markers, and adjust Coda’s feet to equalize the z-co-ordinates of all markers. Reset the marker origin periodically to facilitate comparison of the co-ordinates.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 In the Alignment dialog, there is a box in which to specify an ID name for the alignment transform matrix. At present (May 2003), only one transform matrix may be stored, so this box is disabled – the transform matrix is labelled ‘CodaAlignment’. The alignment transform matrix is stored in the text file CXxxxx-Alignment.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 The choice between parallel/perpendicular alignment and an arbitrary orientation using alignment transforms is made in the CODA Configuration dialog (CODA menu: Configuration… command) If the ‘Aligned’ configuration is selected, then alignment transforms must be available before data acquisition is allowed.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 When creating alignment transforms for two Codas, place the marker boxes flat on the floor. Or, if you get warnings of markers going out of view when aligning each Coda separately, point the control boxes at each Coda in turn. (This may happen if you are using the Codas in a very large space with a high ceiling. During the alignment procedure, each Coda strobes separately.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 However, for the special case with a multi-Coda set-up, where the markers defining the co-ordinate axes are not visible to all Codas (i.e. the fields of view from each Coda unit do not sufficiently overlap), then the alignment transforms must be generated using the Align Multi-Coda system… command on the CODA menu.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Force Platforms (Option) Force platforms, which provide analogue outputs, can be interfaced to the Codamotion system through either an ADC-64 data acquisition unit or a suitably configured cPCI active hub unit. Portable force platforms can also be supported directly on a serial interface (RS232 or USB).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 EMG (Option) EMG systems can be interfaced through either an ADC-64 data acquisition unit or a suitably configured cPCI active hub unit to the Codamotion system. In addition, some EMG systems can now be supported directly from a host PC or laptop using a USB or PCMCIA interface. Codamotion Analysis can be configured to support EMG systems manufactured by Motion Lab Systems and Noraxon. CX1 USER GUIDE - COMPLETE.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Real-time Data Display There are a number of real-time data display Views. They are opened from the CODA menu. All Real-time displays are updated at 20Hz. Real-time Marker Positions (CODA: Display Marker Positions) This is a text display of marker position (x,y,z) coordinate values. Markers are labelled by their hardware ID number. The display is updated at 20Hz; coordinates are displayed only for markers which are in-view.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Real-time ADC Data (CODA: Display ADC) This is a text display of 64 channels of analogue data and 15 digital I/O channels. Available only if an ADC-64 acquisition unit or a cPCI active hub system with analogue/digital I/O boards is configured [Codasys.cfg]. Real-time Input Signal Data (CODA: Display Input Signal Graphs) This is a graphical display showing a scrolling chart of analogue, digital or force plate signals (if configured).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-1 Digital Video Capture (Option) Interfacing with other Equipment (Option) CX1 USER GUIDE - COMPLETE.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 USING THE CODAMOTION ANALYSIS SOFTWARE Codamotion Analysis Basics The Codamotion Analysis Window This is what you see on your screen throughout a Codamotion Analysis session. To begin a motion analysis session and open the Codamotion Analysis window, double-click the Codamotion Analysis icon on the desktop (or select it from the Start menu).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 It may be sensible to separate different research projects by storing the data files in different directories on your hard disk. You can select which directory to use from the directory box in the dialogue box. To find out about creating and managing directories, see your Windows manuals.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 If you have created a suitable marker joining diagram, or have loaded a setup (see What is the Setup? for more information) then you can check that markers are correctly positioned using the Display Stick Figure command from the CODA menu. For a quick check that all the markers you are using are in view, choose the Display Marker Positions command.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 The Setup What is the Setup? The setup is the set of options which tell the Codamotion Analysis application how you want data to be displayed, including the set of names assigned to markers and other data channels. The current setup options apply to all data files which are open. You can create a standard setup which you can save to a named disk file.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 Loading a Setup This will re-configure all data channels, stick figure views and graph views. If you already have a data file loaded then any graphs currently displayed for the data file will be removed, and new ones will be created. To load a setup: Choose Load Setup from the Setup menu.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 Using Meaningful Marker Names In Codamotion Analysis, you simplify life by assigning meaningful names to marker, EMG, force, and force vector channels. This assignment simplifies other parts of the setup process. Instead of having to remember which marker was placed where, you can refer to the name of the anatomical site where the marker was placed. The same applies to EMG channels.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 From the Views menu choose Edit Comments. Enter a line typed as follows: Setup=filename.stp where “filename” follows immediately after “=“ and must not include spaces (though it may include the underscore character). Of course, a Setup filename is suffixed with “.stp” after which there must be a space character or a newline. Make sure you save the comments with the datafile (File: save...).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 Additionally, you can choose either to make the stick figure move continuously in time, or step along (forwards or backwards) frame by frame. To animate the stick figure continuously forwards in time: Choose Animate Forward from the Cursors menu, or use the cursor up key, or click on the right arrow on the toolbar.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 Enlarging or reducing the stick figure The method for scaling the stick figure varies depending on whether you wish to enlarge a real-time or data file view. To scale a data file view: Choose Zoom stick figure view from the Views menu, or select the magnifying glass toolbar button. Click the mouse button over the point of most interest in the stick figure view. Drag the mouse up to make the view bigger, and down to make it smaller.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 To view the marker trajectories, check the View Trajectories box. To View the entire data set of stick figures, check the View All Epochs box. To view all epochs up to the current epoch, check the Trails box. To disperse the figures: check the Disperse box and enter a suitable dispersion rate. Graph View Graph views are used to get accurate information about motion in a data file. A graph view can contain one or more plots of data.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 On any graph, there is always one plot which is selected. Several small solid squares are drawn along the length of the selected plot, in the same colour as the plot itself. The name of the selected plot is displayed on the graph title bar. You can select any plot on a graph by clicking on any part of it. Various operations can be performed on the selected plot of the current graph.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 values are displayed as percent of the expanded section, allowing the data to be analysed in terms of percent of one gait cycle. When the graphs are zoomed in, only the expanded section is shown in any stick figure views. When a data file which has been expanded is saved, the position of the expanded section is stored.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 To check the effect of filtering, use the Filtering On/Off control. When filtering is on, it is applied to the graphs of all currently open data files; it is not possible to plot both filtered and unfiltered data simultaneously. The filters affect only the data plotted on the graphs: the data stored in the data file is not affected, even if it is resaved. Force and EMG data is not filtered.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 Once you have loaded a setup which contains the types of variables you want to collect, you can define the set of variables for any data file you analyse. This is done by using cursors on graphs. Whilst you are defining the variables, you can view their values in a variables view window. When all variables have been defined, you can export them to a spreadsheet/database. See Exporting variables to other windows applications.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Coda Basics I-2 Choose Define Variable from the cursors menu. From the dialogue box select the names of one or more variables you wish to define from the current cursors or selected static bar position. Select the buttons to state whether you want to define the variable(s) from the current cursors or the selected static bar. Choose OK. Immediately after you define the variable, the variable view window will appear, allowing you to check its value.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 SEGMENTAL GAIT ANALYSIS (3-D) Overview Codamotion Analysis software includes functions for calculating 3-dimensional segmental gait analysis data. By using a special marker set which includes a pelvic frame, thigh wands and shank wands (see Marker placement & naming), data may be acquired unilaterally or bilaterally for the calculation of internal joint centres for the Hip, Knee, and Ankle joints, and their 3D internal rotations.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Markers must be named as follows: Segmental Gait Analysis Bilateral acquisition Pelvis: "R.Sac.Wand" "L.Sac.Wand" "R.PSIS" "R.ASIS" "L.PSIS" "L.ASIS" ["R.Front.Wand", "L.Front.Wand"] Left Leg: Right Leg: "L.Ant.Fem." "R.Ant.Fem." "L.Post.Fem." "R.Post.Fem." "L.Ant.Tib." "R.Ant.Tib." "L.Post.Tib." "R.Post.Tib." "L.Ankle" "R.Ankle" "L.Heel" "R.Heel" "L.Toe" "R.Toe" "L.Knee" "R.Knee" ["L.Hip"] - optional ["R.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Marker placement The Marker numbers specified in the diagrams below are the recommended sets; different numbers may be used as long as the appropriate names are assigned to the markers in the Motion Analysis Setup. Markers shown in parentheses are optional. Addition markers may be used if required. Unilateral data acquisition Sac.Wand [1] PSIS [2] (Asis) ASIS [3] (Front.Wand) (Hip [23]) Ant.Fem. [6] Post.Fem. [5] Knee [9] Post.Tib.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Bilateral acquisition - Right side R.Sac.Wand [2] R.PSIS [13] (R.Asis) R.ASIS [14] (R.Front.Wand) (R.Hip [24]) R.Ant.Fem. [16] R.Post.Fem. [15] R.Knee [19] R.Post.Tib. [17] R.Ant.Tib. [18] R.Ankle [20] R.Heel [21] R.Toe [22] Bilateral acquisition - Left side (L.Front.Wand) L.ASIS [4] (L.Asis) L.PSIS [3] L.Sac.Wand [1] (L.Hip [23]) L.Ant.Fem. [6] L.Post.Fem. [5] L.Knee [9] L.Post.Tib. [7] L.Ant.Tib. [8] L.Ankle [10] L.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Segment Reference Points These are the body reference points which are calculated from the marker positions using Patient Data joint information. Leg reference points are calculated only if Pelvic frame marker data is available as well as Leg marker data. Only one set of leg reference points is calculated for unilateral data (Left or Right is detected automatically). Reference points for both legs are calculated for bilateral data.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Segment Embedded Coordinate Frames Z A. Sagittal View: Pelvis Sacrum X Asis HipCentre Z Thigh X KneeCentre Z Shank X Z AnkleCentre B. Frontal View: Heel Z X Toe Pelvis Sacrum R.Asis L.Asis Y R.HipCentre Z Foot L.HipCentre R.Thigh h Y Z L.Thigh Y R.Lat.Knee L.Lat.Knee Z R.Shank Z Y Z R.Lat.Ankle R.Toe L.Shank Y Z R.Foot Y CX1 USER GUIDE - COMPLETE.doc 26/04/04 L.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Derivations of 3D Segments and Joints from Marker Placements The geometrical properties of each body segment are derived, generally speaking, from three non-collinear points bearing particular anatomical relationships to the given segment.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 The sides of the Pelvic frame should be tilted so that the plane defined by the ‘PSIS’ and ‘ASIS’ markers includes the Pelvis ASISs and PSISs. Firstly, the line joining the ‘L.ASIS’ and ‘R.ASIS’ markers defines the medio-lateral axis of the Pelvis. The anterior-posterior axis direction is then defined by the perpendicular to the ASIS - ASIS line in the plane which contains all three Pelvic frame markers. ‘R.Front.Wand’ & ‘L.Front.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Segment Reference Points These are rigid model anatomical sites calculated from the marker positions in conjunction with information about static widths and depths from Patient Data. All Segment Reference Points are shown, pre-joined in a factory set configuration, on any stick-figure view; plots of their positions may be selected from the graph-plot menu lists.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Derivation of Segment Definitions from Marker Positions In every case, the dynamic representation of a segment follows from vector reconstructions based on a minimum set of three points. For the pelvis we first obtain the orientation of the local co-ordinate frame (hereafter referred to as ‘Embedded Vector Basis’: EVB) from the available marker set and obtain its reference points using local offsets.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Pasis2 = M psis + dux + (W + 20)uy Bilateral: In this case there is considerable redundancy in the marker data since there may be as many as 6 markers representing the pelvis. This allows for a more robust platform for pelvis calculations since, for example, we are no longer dependent on interpolated positions of out of view markers whose positions can be re-constructed like Virtual Markers.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Thigh / Knee Joint The thigh segment representation derives from a combination of data from the thigh wand markers and femoral joint positions - the Knee joint, and the Hip joint (already obtained). The Knee joint is modelled as a simple medio-lateral axis and as such is defined (at present) by the Knee marker on the lateral aspect and a medially offset reference point on the medial aspect, to be labelled ‘MedKnee’.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Foot Segment This is defined by three points: the first is the AnkleCentre, as defined above within the shank segment; the other two reference points, ‘Heel’ and ‘Toe’, are simply medially offset from the Heel and Toe markers by half an ankle-width, w, (Patient Data again). The principal axis of the foot is taken to be parallel to the line between Heel and Toe markers; this is the local x axis.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Segment Rotations Pelvis - Lab (Walkway): Pelvis.X : Pelvic Obliquity Pelvis.Y : Pelvic Tilt Pelvis.Z : Pelvic Rotation Pelvis - Thigh: Hip.X : Hip Adduction-Abduction Hip.Y Hip.Z : Hip Flexion-Extension : Hip Rotation Thigh - Shank: Knee.X : Knee Varus-Valgus Knee.Y : Knee Flexion-Extension Knee.Z : Knee Rotation Shank - Foot: Ankle.X : Foot Supination-Pronation Ankle.Y Ankle.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Segment Data Types and Channels The data channels listed below are calculated automatically and become available for plotting when the Marker data and Setup configuration are appropriate. The configuration may allow calculation of Pelvis data alone, or Pelvis data and data for one or both Legs. Segment Reference Point (3D) [mm] X Y Z 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 "Sacrum" "L.Asis" "R.Asis" "L.HipCentre" "R.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 3D Joint Rotational Velocity (3D) [rad/s] X Y Z 0 1 2 3 4 5 "L.Hip" "L.Knee" "L.Ankle" "R.Hip" "R.Knee" "R.
Charnwood Dynamics Ltd. Coda cx1 User Guide - Gait Analysis II - 1 Patient Data File Example: AAW.PD [Subject] ID=aaw Andrew Ward Classification=Normal [Patient Data] Sex=M Age=40 DateOfBirth=5509 Height=1.90 Weight=70.0 [Joint Data] Widths=300,150,100,100,80,80 HipOffset=0.14,0.30,0.19 [Segment Data] Lengths=400,300,200,400,300,200 Masses=0.1113,0.0428,0.0143,0.1113,0.0428,0.0143 Centres=0.4600,0.4400,0.4200,0.4600,0.4400,0.4200 RadGyrations=0.2910,0.2930,0.2440,0.2910,0.2930,0.2440 RadGyrRatios=0.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 GAIT ANALYSIS REPORT GENERATION The MotionDB Motion Analysis Database application. The Report Generator can generate reports not only for Segmental (3D) Gait data (acquired by the methods illustrated above) but also for External analysis data. Codamotion users will, almost certainly, only ever acquire gait movement data with the rigid model methods described above, but may have occasion to refer to archive data obtained by other means.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 These files (or similar) are normally installed in the C:\Codamotion directory along with the other Codamotion Analysis system files. (Note: the system files - Codasys.cfg, Coda\*.* do not need to be installed on a PC which is not connected to Coda cx1 scanners and is intended for analysis purposes only.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 4. Calculates gait-cycle parameters and exports them to other Applications (e.g. an Access database) via the Windows Clipboard. The gait-cycle parameters are calculated only when the Active file has been added to the database Table (Data Files), and when a primary gait cycle has been defined for the left and/or right data. Gait cycles are defined by the user either in Codamotion Analysis or in Motion Database.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 3. Open the data file (File: Open Data file...) (Toolbar: Open) If the Data/Setup configuration message-box appears, check that the appropriate Gait Analysis type has been detected (either Segmental or External), and whether the Force (if any) has been assigned ‘Left’, ‘Right’, or is ‘Undefined’ (This message-box will appear automatically if the File: Auto Show Config option is on (checked).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 If you have previously saved the parameters for this patient (to a PD file), click Load to re-load the data. Otherwise enter the patient’s details and joint widths and click Save to save the parameters to a PD file (the file is named automatically using the first 8 characters of the Patient ID (or up to the first space in the ID string), with the extension ‘.PD’).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 Another mark must be placed at the next Heel-down position: If this can be identified unambiguously from the Heel.Z graph, move the Right cursor to this position and select the Cursors: Drop Left/Right Cycle mark again.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 Enter a new filename: change the ‘MDF’ extension of the existing filename to ‘MDR’ (for Movement Data Report) to create a new file. (The current datafile name is show on the main title bar.) Keep the first part of the name to 8 characters or less, and don’t use spaces, even if you are using Windows 95 - the MotionDB report generator is a 16-bit (Windows 3.1) application which doesn’t fully support long filenames.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 1. When the Database Dialogue windows opens, check that its title bar indicates that the appropriate database (PDB) file has been opened. There are different database files for Segmental and External gait analysis reports; the program automatically loads the lastused database file. [xx_SG01.PDB for segmental analysis; xx_XG01.PDB for external gait analysis.] (The pdb database file includes the graph definitions for the report.) 2.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 8. Select Print Setup... from the File menu Check that the correct Printer is selected, that the Orientation is Portrait, and that the Paper Size is A4. (These options should remain set, but may be changed by other applications which share the printer.) 9.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 Changing the scales on the report graphs 1. In the Database Dialogue window, click the Graph button and select the graph you wish to change. (If you need to scroll the list, check that the correct graph remains selected after you click on it - the list is liable to jump when it is first used.) 2. Click the Design button to open the Graph Setup dialogue. 3.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 2 4. Switch to your database/spreadsheet/table application, select a new line or row and select Edit: Paste (or Keyboard: Ctrl + V) If you are pasting into a table, you may need to select the same number of columns as there are parameters to paste. (To check the number of parameters, paste them into a word-processor and count the number of Tabs.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 3 A TYPICAL SESSION IN THE GAIT LABORATORY The Codamotion system has been designed from the outset to minimize the time and effort spent preparing motion-capture and analysis in the laboratory. Gait analysis, being the most prevalent application of Coda, has gained most in efficiency savings throughout development in consultation with clinicians and laboratory technicians.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 3 This ‘marker-model’, along with acquisition parameters and the specifications for all stickfigure and graph views, is permanently retained within appropriate setup files (as supplied, with ‘.stp’ filename extensions) to be loaded by selecting ‘Load Setup..’ from the ‘Setup’ menu. Setups may, of course, be changed within Codamotion Analysis and resaved, or edited externally using a text editor.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Gait Analysis II - 3 Assuming we have a segmental gait file we may immediately proceed to bring up graphs of any or all derivable data along with various animated stick figure views. The Setup file may have already specified which graphs and views we want and these will be presented instantly.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 USING VIRTUAL MARKERS Introduction Virtual Markers are points in 3D space constructed, by means of a fixed geometric relationship, from two or more other points which may be either real markers or else previously defined virtual markers. They are user-defined in the Virtual Markers dialogue, which is opened using the Setup menu command Define Virtual Markers… Virtual markers have a variety of uses.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 In the second category are those applications requiring analytical, ‘de-constructive’ methods, for example, where a virtual marker is the only means for tracking a point of interest located in a position where it would not be feasible to place a real marker, or where a real marker would be too often out of view.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 Negative weights can be used to generate a virtual marker located on an extended line through two markers, for example: If w1 = - 0.2 and w2 = 1.2, Pv = 1.2 P2 – 0.2 P1 = P2 + 0.2 (P2 – P1) The negative weight of M1 puts the virtual marker on the opposite side of M2 from M1, at a distance w1 times (P2 – P1) (if w1 + w2 = 1.0). M2 w1 M1 MV w2 balance point It might be useful to consider the analogy with real weights (i.e.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 The simplest option is to use the third marker to indicate a direction perpendicular to the line joining the first two and thereby define a virtual point ‘out-of-line’ but ‘in-plane’. An intermediate virtual marker may be determined, as shown above, on the line between M1 and M2 and then shifted perpendicularly towards M3 by the distance specified (in mm) in the first offset box.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 To relocate MV ‘out-of-plane’ one has only to specify the appropriate 2nd offset, X, (ignore the first!). M3 M intermediate M2 2nd offset X MV (out of plane) The direction of offset X is determined by the ‘cross-product’ of vectors derived from marker position vectors and its positive sense (vertically up or down in the above example) depends on the spatial ordering (clockwise or anti-clockwise) of M1, M2 and M3.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 Instead, its position varies with the geometry of body segments as they move relative to each other and, to a lesser extent, with localised segment deformation. Yet the body’s mass-centre is crucially important during free-flight (or free-fall) phases since its trajectory is constrained to be parabolic in order to satisfy Newton’s laws of motion.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 From the static acquisition we will have determined the (mean) positions of M1, M2, M3 (position vectors P1, P2, P3) and V (at Vs). Markers M4, M5, etc... become redundant as V is located relative to M1, M2 and M3.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 1 (ii) Any component virtual markers must themselves be valid. If any of these conditions are violated the virtual marker definition is rendered invalid. Anyone contemplating the analysis described in section 5 will be aware of the need to avoid division by zero in the solution of weights.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 2 USING VECTOR ANGLES The methods described herein relate to the construction and interpretation of Vector Angles as provided for within Codamotion Analysis software (‘Setup’ menu: ‘Define Angles...’). A vector angle is the angle between two vectors (which we may visualize as straight lines).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 2 Whereas the first option is a secure definition (provided that the two chosen points never coincide), the security of the second (planar definition) depends on the three chosen points remaining ‘well separated’ throughout the data sequence; and in this case, well separated means non co-linear as well as non co-incident (three points in a straight line do not represent a plane).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 2 The 3D angle would be ideal, however, to measure the absolute deviation of ‘head-vertical’ (as in the example above) from true laboratory vertical: ‘Head-vertical’ is the vector depicted by the bold arrow (derived as the normal to the plane of M1 M2 M3). True vertical is shown by the taller arrow. The 3D vector angle represents absolute deviation with no hint about left, right, fore, or aft.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 2 3D angle on a stick figure view The absolute angle between two vectors is entirely independent of any projection, let alone the three projections offered for 2D angles.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 3 SEGMENT ROTATIONS - The Mathematics Of Euler Angles The reporting of angular coupling patterns for limb segments is now routine in gait analysis. Standardisation throughout the clinical environment and within CAMARC1 has tended towards one particular set of angular couplings, namely Euler Angles, which are considered by many to deliver the best compromise in the representation of complex clinical rotations in three dimensions.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 3 One way would be to look at the projections of distal axes onto the axial planes of the proximal co-ordinate frame.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 3 Any co-ordinate vector v will be mapped to its image v`under matrix multiplication by any of the above matrices. This is true for the unit vectors uX(= [1, 0, 0]T ), uY and uZ, representing the axes of the distal EVB, which are mapped to uX`, uY`and uZ`. Crucially, a second rotation about a different axis maps uX`to uX``etc.., and a third maps uX``to uX```etc.. Moreover, the components of the final image vectors (uX```etc..
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 3 Two key points of this methodology arise from consideration of segment-joint physical characteristics: (1) Segment-joint geometries tend to suggest a local plane of symmetry (usually midsagittal) on either side of which we might expect to find similar angular deviations.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 3 (In either case the sequence described is that by which the segment arrives at its orientation.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 3 Note that the order in which the decomposition is solved is NOT the same as the Euler sequence of rotations. In fact the mid-sequence angle is solved first. Closer scrutiny of the equations for φ and ψ reveals that these angles would remain undefined in the event cosθ = 0 (division by zero isn’t allowed). This only happens when θ = +/- 90o, i.e.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 3 4 See: Euler, Leonhard. De Immutatione Coordinatarum, Caput IV, Appendix de Superficiebus, Introductio in Analysin Infinitorum' . (Lausanne, France 1748). In fact Euler’s original work showed that a rigid body may be re-oriented by a sequence of three rotations about just two axes: RX about the x-axis, followed by RY, followed by a second rotation, R`X, about the displaced x`-axis.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 4 SEGMENTAL ANALYSIS - Inverse Dynamics The lower body is to be considered as an arrangement of individual limb segments connected at the joints. In order to obtain moments and powers in respect of each joint the limb segments are treated mechanically as free bodies to which we can apply three dimensional Newtonian mechanics relating motions and forces.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 4 Scalar quantities are in normal type, e.g. µ We shall require the use of both scalar and vector products of two vectors, shown respectively as v1.v2 and v1 ^ v2. Subscripts are used for a variety of purposes: to specify a component of a vector (e.g. Rx is the ‘x’ component of reaction vector R ), or else to attach a segment label (e.g. Qf is torque applied to the foot).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 4 Ankle Moments Gf = A + µf (T - A) Centre of mass of foot: where A & T are the position vectors of the Ankle joint centre and Toe respectively.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 4 Knee and Hip Moments The analyses for the knee-moments on the shank and the hip-moments on the thigh are essentially the same as for the ankle-moments except that the ground reaction vector is replaced by the distal joint reaction and we must include an extra term to account for the distal reactive moment.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 5 ENHANCING SEGMENT REPRESENTATION In the field of motion analysis it is now common practice to derive representation of a rigid body segment from the set of markers assembled upon it. Too often the nature of the motion causes some or all of these to drop out of view for short periods. We present here some ideas for dealing with this problem. Ultimately, over-determination using many markers provides for very high resolution.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 5 Where just one of the two markers goes out of view, rather than independently interpolating its trajectory, we ought to ‘anchor’ it to the in-view marker and apply our interpolation to the spatial relationship between the two, in other words, to the orientation (and length) of the vector joining them. If the out-of-view marker is common to more than one segment (i.e.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Advanced Topics III - 5 Next we calculate the determinant Q whose 3 columns are the vectors D2, D3, and the normal N : Q = det| D2, D3, N | If V1 is the position vector of the first point (virtual marker) we wish to localise we can write V1 = (1 - µ - ν)P1 + µP2 + νP3 + λN Where µ = det| V1 - P1 , D3, N | / Q ν = det| D2, V1 - P1 , N | / Q λ = det| D2, D3, V1 - P1 | / Q Similarly for V2 and V3.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 CODAMOTION ANALYSIS: User Interface Reference Main Frame Toolbar Button Menu Command Description CODA: Acquire data... Acquire new data from the Coda cx1. CODA: Define Marker Origin Define the coordinate origin from a current marker position. File: Open Data File... Open a movement data file from disk. File: Close Closes the current movement data file. File: Save Save the current data to a disk file.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Cursors: Jump/Scroll Backward Jumps/Scrolls the graph view backward in sections of a given time period. Cursors: Jump/Scroll Forward Jumps/Scrolls the graph view forward in sections of a given time period. Cursors: Drop LeftCycle marks (green) Place Left Gait Cycle markers at the position of the Left and/or Right cursors (on all graphs). Zooms the data to the Left Cycle if there are already three Left Cycle marks defined.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Menu Commands CODA menu Configuration... Define the number and configuration of active Coda cx1 units. Opens the CODA Configuration dialogue in which the individual units of a multi-Coda system may be selected/deselected for data acquisition. Special configurations for a two-Coda system may be selected. If there is more than one Force Plate, individual units may be selected/deselected for data acquisition.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Display Input Signal Graphs Opens a Real-time Signal data View, which displays a graphical scrolling chart of analogue, digital or force plate signals (if configured). Display CX1 data Used for demonstration and testing individual cx1 cameras. Opens a Real-time cx1 data View, which displays the signals from a cx1 camera unit as a bar-chart updated in real time. Camera A, B, or C may be selected. The correlation peak may be superimposed.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Acquire Calibration Scan… For Music demonstration purposes only. Available only when a Real-time cx1 data View is open and selected. For Music demonstration purposes only. Available only when a Real-time cx1 data View is open and selected. Opens the Acquisition mode dialogue in which the data acquisition mode may be selected (Normal (X,Y,Z), ABC Raw, etc.). For Calibration purposes only. Calibration Editor… For Calibration purposes only.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 File menu Open Data File... Ctrl+O Opens the File Open dialogue to select and open an existing movement data file from disk. View multiple data files... View a selected group of files from the current directory. Closes all open datafiles and Opens the Multi-View dialogue. Close Close the selected data file. If the selected data file is newly acquired or has been changed, there will be a prompt to (re-)save it.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Setup menu Load Setup... Load new Setup configuration parameters and graph selections. Opens the Load Setup file dialogue, listing all *.stp files in the current directory. If you change directory, the new one becomes the default. Save Setup... Opens the Save Setup file dialogue (with a blank default file name) to save the current Setup configuration parameters and graph selections.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Co-ordinate Transform... Opens the Data Transform dialogue to define a dynamic origin for marker position data (as one of the markers). Includes a switch to switch transformation On/Off. This menu item is checked when data transformation is On. Dynamic centres... Setup special options & parameters for dynamic joint centering. (Under development - Implemented only for evaluation.) For Music demonstration purposes only.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Views menu New Graph View... Ctrl+G Opens the Edit Graph Plots dialogue to edit the selected graph. The dialogue opens with the currently selected plot highlighted in the plot list. Each plot may be edited (offset, scale, slope, colour) or deleted. New plots may be added. Edit Graph Plots... Use thick lines on graphs Opens the Edit Graph Plots dialogue to create a new graph View.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Reset View Reset the scale of the stick-figure view to include the full range of movement (over the current zoom time). Use this command if the Stick-figure disappears from view during animation or when the viewing axis is changed. (The scale is automatically reset when switch to a variable-axis view.) Always Redraw All Always redraw all views.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 View Summary Information Opens a Data Summary View for the currently selected data file. This is a text display which shows the data file name, date, size, type and acquisition date, and lists a summary of the data: Marker numbers acquired - number of samples, acquisition time and rate; Analogue (Force) data; EMG data; Event data; Video data.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Cursors menu Animate Forward ↑ (spacebar) (toggle) Animate Reverse ↓ (spacebar) (toggle) Stop Animation Animate Faster spacebar PgUp Animate Slower PgDn Step Forward → Step Backward ← Animate stick figures and the Left cursor forward in time. The Left cursor (on all graphs) is continuously moved forward at about 20 steps-per-second. All Stick-figure Views are re-drawn at each step to show the figure at the Left cursor time.
Charnwood Dynamics Ltd. Move To Max|Min Move To Force-on|Force-off Move To Horizontal Intersection Move To Beginning|End Zoom Graphs to Cursors Zoom Graphs to LeftCycle Coda cx1 User Guide – Reference Ctrl+M Ctrl+H Ctrl+I Ctrl+B IV-1 Move the Left & Right cursors to the maximum and minimum ordinate values of the selected plot. If a Variable of type ‘Max/Min ordinate value’ has been defined [Setup: define Variables...
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference Drop Mark Ctrl+Ins IV-1 Place a DropMark time-marker (grey dashed line) at the position of the Left cursor (on all graphs). Up to 20 DropMarks may be placed. Variables may be evaluated at DropMark positions. A Stick-figure View may be set to display multiple stick-figures at the DropMark time-positions [Views: Stick-figure View Options...] This is useful for preparing presentation prints of data views.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Edit menu Undo Ctrl+Z Undo the last action [Comments View] Cut the selection and put it on the Windows Clipboard. [Comments View] Cut Ctrl+X Copy Ctrl+C Insert Clipboard (text) contents. [Comments View] Paste Copy as text... Copy the (selected) data and put it on the Clipboard. [Comments & Variables View] Ctrl+V Ctrl+C Opens the Data Export Options dialogue in which the format of the data output can be defined.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Window menu Cascade Arrange all non-iconic View windows to be the same (default) size and overlap. Tile Arrange all non-iconic View windows so they are as large as possible without overlapping. Arrange Icons Arrange iconic windows along the bottom edge of the window. F5 Move the View windows to the positions stored in the last-loaded Setup, including restoring and/or iconizing as required. Toolbar (toggle) Show or hide the toolbar.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Keyboard controls Key Menu Command Ctrl + A CODA: Acquire data... Ctrl + B Cursors: Move To Beginning|End Ctrl + C Edit: Copy Copy the (selected) data and put it on the Clipboard. Ctrl + G Views: New Graph Create a new graph View. Ctrl + H Cursors: Move To Force-on|Force-off Ctrl + I Cursors: Move To Horizontal Intersection Acquire new data from the Coda cx1.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Views In-View Summary [Views: Show In-view Summary] Message Box Data Configuration summary [text] [Views: Show Data Configuration] Message Box Data Summary View [text] [Views: New Graph View...] Text display CX1 USER GUIDE - COMPLETE.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Stick-figure View [Views: New Stick-figure View...] Line-drawing display Setup: Stick-figure Joining Diagram... Views: Stick-figure View Options... Views: Switch Viewing Axis Switch the viewing axis for the selected Stick-figure view. Views: Zoom View in/out Activate the zoom control for the selected Stick-figure view. Views: Pan & Tilt View Activate the pan-tilt control for the selected Stick-figure view.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Graph View [Views: New Graph View...] Line-graph display CX1 USER GUIDE - COMPLETE.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-1 Video View [Views: Show Video...] Picture display Comments View [Views: View / Edit Comments...] Text display Variables View [Views: View Variables..
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-2 MOVEMENT DATA FILE (MDF) FORMAT (Version 3.0) Summary A Movement Data File is a binary file of variable length. The file format allows for the storage of variable amounts of data of various types; the data type determines the number of bytes used to store each item of data. There are three sections in the file: 1. Identifier - 2. Header - 3. Data - Identifies the file as a Coda MDF file, and records the file format version number.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-2 There is no more than one header entry for each data type, and some of the data types may not be represented. The header entries are not necessarily in order of data type, but the order does define the order of arrays in the Data section.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-2 Data array types Note: For Coda cx1 systems (Version 3.0 File format) 3D Marker position data is stored as floating point – see below. Type Code Data array contents: (units) 0 Text comments 1 Date of data acquisition For mpx-30 (Version 2.1 File format) -1 2 3D Marker position (µm ∗ m.resolution ) For cx1 (Version 3.0 File format) 2 3D Marker position (mm) -1 3 Analogue Force data (N ∗ f.resolution ) -1 4 Analogue EMG data (µV ∗ e.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference -1 65 66 67 68 69 Calculated VectorAngVels (deg/s * res ) 2 -1 Calculated VectorAngAcc (deg/s * res ) -1 Calculated 2D JointMoments (Nm * res ) -1 Calculated (2D) JointPowers (W * res ) -1 Calculated Segment Ref.Points (m * res ) 70 71 72 73 74 75 76 77 Calculated Segment Rotations (deg * res ) -1 Calculated Joint Centre Vel. (m/s * res ) 2 -1 Calculated Joint Centre Acc. (m/s * res ) -1 Calculated Segment EVB.x (res ) -1 Calculated Segment EVB.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-2 Data-type Notes 0 Text comments: This array will be at least 1 byte. The maximum size is not defined. For converted CODA-3 data files, this may contain some rubbish non-ASCII characters. 1 Date of acquisition: The date is stored as [day, month, year]. May not be present in some files. 2 3D Marker position: There is a data array for each marker.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-2 The marker position data must be multiplied by this resolution to get values in µm. Currently the same value for all markers: 100µm for CODA mpx-30 data; 200µm for CODA-3 data. The Coda cx1 marker resolution value is set to 1 and the position data is stored in mm (floating point). 14 Hardware markers acquired: This lists the markers for which data was acquired, in the same order as the data arrays. The values are (Marker ID - 1) - i.e. 0...
Charnwood Dynamics Ltd. 28 Patient Segment Data: 29 Patient Data names: Coda cx1 User Guide – Reference IV-2 30 31 32 33 CX1 USER GUIDE - COMPLETE.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-2 Calculated data The following data types are data which has been derived from the acquisition data stored in data types 0 - 29. It has been calculated by algorithms in the Motion Analysis program. This data is not normally recorded in a data file, but some may be included as a means of exporting it to another application program that does not have the same calculation algorithms.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-2 61 Calculated Moment : 62 Calculated Power: 63 Calculated Length: 64 Calculated Vector Angle: 65 Calculated Vector Angular Velocity: 66 Calculated Vector Angular Acceleration: 67 Calculated Joint Moments (3D): The moments about the three joint axes. 68 Calculated Joint Powers: The total powers in each joint.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-3 TEXT DATA FILE (TXT) FORMAT Summary Text data files contain a set of movement data coordinates in a tabulated text format. This format is used to import data into Codamotion Analysis from other applications, or to export data from Codamotion Analysis to other applications (such as a spreadsheet or a wordprocessor). File names usually have the extension TXT, but any extension may be used. Saving data in Text format In the File: Save As...
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-3 A text-format data file does not include the marker in-view flags, Comments, nor any of the derived data types (Velocity, Acceleration, Joint Angle etc.) Loading Text data Tabulated text data may be loaded into Codamotion Analysis with File: Open.... The file format is recognized automatically from the label in line 1 (the filename extension does not need to be ‘TXT’).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-3 Coordinates The assumed sense of coordinates is: X: horizontal (parallel to the direction of travel of the subject) (parallel to Coda). Y: horizontal (perpendicular to the direction of travel) (distance from Coda). Z: vertical, positive upwards. There is no significant effect if the X and Y coordinates are swapped or inverted. Stick-figure Views will appear rotated if the ‘Z’ coordinates are not the vertical up direction.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-4 FILE TYPES SUMMARY Codamotion Analysis and MDB Report Generator MDF 'Movement Data File' Binary-format files containing ' raw'movement data including marker positions, forceplate data (as analogue input channel data [8 channels per plate]), and EMG data (in groups of 8 channels). Also includes text Comments data and cursor positions, and Subject/Patient data (if any). May also include video (AVI) data.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-4 If an MDR file is opened in Codamotion Analysis: a) the presence of calculated data is indicated in the data Summary View (Views: View Summary information) b) the calculated data is ignored (and cannot be graphed) - all data derived from the measured data is re-calculated. c) the calculated data in the file is over-written with new calculated data if the file is saved with File: Save As...
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-4 If a Report definition file listed in the Report.CFG file is not present, a blank will appear in the list of Reports. (There is no message that the file was not found.) Created manually. Read by the MDB Report Generator whenever a PDB file is loaded (normally whenever the Report Generator is started). RPT Report template definition file A text-format file which defines the layout of graphs appearing in a (single) Report.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 PROJECT SETUP AND DATA TYPES The Project Setup Configuration The Setup configuration includes the following items: 1. Data Acquisition options [Acquisition Setup dialogue (CODA: Acquisition Setup...)] 2. Video options (if configured) [Video Setup dialogue (CODA: Video Setup...)] 3. Marker names & colours [Marker Setup dialogue (Setup: Markers...)] 4. EMG/ADC data channel names & colours. [EMG Setup dialogue (Setup: EMG/ADC channels...
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 The configuration of all these items can be stored in a Setup file (e.g. GAIT.STP) at any time by selecting Setup: Save Setup... which opens a File Save dialogue. Thus, you may assemble a number of standard Setups for different Codamotion Analysis projects, for when you use a fixed set of Markers in a fixed configuration.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 Data Types Epoch Data Epoch data is data which is acquired or calculated for all epochs of the measurement period. The number of epochs depends on the original sampling rate of the acquired data types. The types of epoch data which are available for plotting are described below. These data types correspond to the list displayed in the Ordinate Axis variables list of the Graph Add Plot dialogue (Views: New Graph View... Add Plot...
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 Derived data - automatic: Velocity [X,Y,Z] (m/s) Velocity data for all acquired markers, calculated from the (interpolated and filtered) position data. Further filtering may be applied (see Setup: Data Filters...) Velocity Magnitude Velocity magnitude data for all acquired markers, calculated from the (m/s) above velocity data.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 The name and other attributes of an angle are defined in the Edit Joint dialogue. Angles are calculated from interpolated and filtered marker position data if filtering is switched on (Setup: Data Filters...) The plot-colour used for Angle data is that of the first Apex Marker. Joint Angular Velocity Angular velocities for all defined Joint Angles (radians/s).
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 Segment Angular Vel. The (x,y,z) coordinates of [X,Y,Z] (mm) Segment Angular Acc. The (x,y,z) coordinates of [X,Y,Z] (mm) Segment EVB.x [X,Y,Z] (mm) The (x,y,z) coordinates of Segment EVB.y [X,Y,Z] (mm) The (x,y,z) coordinates of Segment EVB.z [X,Y,Z] (mm) The (x,y,z) coordinates of CX1 USER GUIDE - COMPLETE.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 Comments Data Text Comment data may be added to a data file. Select Views: View/Edit Comments and type your text into the Comments Window (text may be pasted from the Windows Clipboard). After text has been entered, it is stored even if the Comments View window is closed. Any amount of text may be entered. To save the Comments into the data file, select File: Save.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-5 Variables Data Variables are used to store attributes of the whole data set. If there are any variables defined (Setup: Define Variables...), their values may be defined from the selected graph by positioning the Cursors and/or selecting a bar, and then selecting Cursors: Define Variable... This opens the Define Variables dialogue. Select the variable you wish to define and select OK.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-6 DIGITAL EVENT INPUT-OUTPUT Event Recording and Acquisition Triggering Outputs The data channel type ‘Digital Event’ refers to digital data which can be acquired from the standard digital I/O channels provided on the ADC-64 data acquisition unit. There are 15 digital I/O channels on the ADC-64 unit which is connected to the host PC via an ISA DSP32 interface card.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-6 Digital Trigger Outputs Two trigger outputs may be defined by the user, using any of the digital channels (1 – 4), via the Digital Trigger Setup dialogue: CODA: Define Trigger 1..., Define Trigger 2... The trigger channels react to changes in marker positions.
Charnwood Dynamics Ltd. Coda cx1 User Guide – Reference IV-6 Pin-outs for Digital I/O Signal Channel 1 Channel 2 Channel 3 Channel 4 Channel 5 Channel 6 Channel 7 Channel 8 Channel 9 Channel 10 Channel 11 Channel 12 Channel 13 Channel 14 Channel 15 Channel 16 Ground +5V 25-way ‘D’ connector 25 12 24 11 10 22 9 21 18 5 17 4 3 15 2 14 1,6,8,13,16,19 20,23 7 CX1 USER GUIDE - COMPLETE.
