Using the polar decomposition theorem to determine the rotation matrix from noisy landmark measurements in the study of human joint kinematics
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Abstract
A method based on the polar decomposition theory is proposed for the calculation of rotation matrix from noisy data in the experimental study of human joint kinematics. The results of instantaneous center of rotation and average center of rotation obtained with the present method coincide with those obtained by using the least square method of spoor and veldpaus. Both can give a good estimation of rotation matrix from the trajectories of at least 3 non collinear markers. The advantage of the method proposed in this paper is that it allows to seperate the pure rotation from the measurement errors. More detailed analyses of measurement errors will be performed by exploiting this interesting aspect
