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PC version of locomotion/motion software - free !

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  • PC version of locomotion/motion software - free !

    I hope that the readers of BIOMCH-L and their associates and
    students will find the following useful in their research.

    Dwight Meglan

    ************************************************** ********************

    Software for the Analysis and Display of Human Locomotion
    PC DOS Version, January 1994
    by Dwight Meglan

    The Anz/Telio/Show3d package is a set of computer programs for use
    in the research as well as the clinical evaluation of human
    locomotion. Together, these allow the analysis, plotting, and
    graphical display in 3 dimensions of body segment kinematics and
    kinetics. The software, originally developed for VAX/VMS in
    FORTRAN at The Ohio State University Gait Analysis Lab and now
    running under DOS on IBM PC 386 and higher compatible computers, is
    being made available in source code and executable form to
    facilitate researchers and clinicians in the development of their
    own locomotion analysis software. The previous release of this
    software in the Fall of 1991, though only for VAX computers at that
    time, is being used by a number of groups.


    Anz uses measured marker trajectories to produce estimates of
    spatial limb kinematics, absolute and relative, including
    translational and rotational velocities and accelerations. These
    can be combined with force plate data to evaluate net joint
    resultant loads and joint power transfers. The majority of the
    analysis methods are based upon segmental local coordinate systems
    that are marker system independent. Several marker sets are
    currently supported including clinical full body marker sets
    (Helen Hayes, Ohio State, and Cleveland Clinic), a research full
    body marker set developed at Mayo Clinic, an upper extremity
    marker set, and a detailed foot kinematics marker set . Many
    general kinematics and kinetics procedures are included as well as
    a number of gait specific evaluations. In a number of evaluations,
    several methods are provided to do the same calculation to provide
    checking of algorithm validity. Muscle EMG data may also be
    processed with digital filtering. The program is command line
    based and can be operated interactively for exploratory analysis
    can be used repeatedly via command or batch files to yield a
    production environment for clinical gait evaluation. The results
    of an analysis are stored in a single binary format file
    constructed to be transportable between different computers. The
    contents of this file can be examined with Telio to produce
    graphs, Show3d to produce 3D figures, or exported from Anz in text
    format for further processing. The commands used to produce the
    analysis results are stored in the Anz binary file providing a
    history of the calculation process.


    Telio is a command line driven program to graphically display the
    results of ANZ analyses. It can also read several data file formats
    native to the VICON marker tracking system. The program has a
    flexible display format so that screen displays and/or printouts
    can be produced using either time series or crossplotting of data.
    Data may be read from multiple files and a number of graphs
    generated at one time. A macro facility has been included to
    simplify generating complex displays. Combined with a command or
    batch file, printouts of data can be produced without any user
    interaction. Thus, the program functions as both an exploratory and
    a production display tool. A number of gait specific features are
    included to produce clinically useful gait displays. The VOGLE
    graphics subroutine library is used to provide device independent
    graphics capabilities. On the PC the program can display on a
    number of graphics adapters and produce print files in several
    formats including postscript.


    Show3d generates 3D views of marker trajectories and body segments
    as analyzed by Anz to allow visualization of motion from any
    direction. Body segments are represented by parallelapipeds to
    emphasize nonsagittal plane motions. Segments may be represented
    with hidden lines removed. A number of customization options are
    available including the display of the images on screen and/or via
    printed form. This program also uses the VOGLE graphics package.
    The program produces nice animations when used on a fast 486 PC.


    The source code uses VAX extensions to FORTRAN but no system
    specific routines, so it should be possible to use any FORTRAN
    compiler supporting VAX extensions. The PC versions of
    ANZ/TELIO/SHOW3D have been developed with the WATCOM 32bit FORTRAN
    compiler. In addition, the VOGLE graphics library has been
    customized for use with the WATCOM 32bit C compiler. Use of other
    compilers will surely require at least changes in the makefiles if
    not the source code of the programs.

    Presently, the software supports VICON and AMASS video and analog
    data files as well as Motion Analysis Corporation video and analog
    data files.

    The source code is rather large, totaling about 2.5 MBytes. The
    software is copyrighted and has been placed in the public domain as
    a research and instructional tool only and as such is UNSUPPORTED.
    The source code may be freely modified and redistributed for
    nonprofit purposes as long as the changes are clearly marked and
    the origin of the software, Dwight Meglan and The Ohio State
    University Gait Analysis Laboratory, is mentioned.

    Further details regarding the distribution of ANZ/TELIO/SHOW3D can
    be found on the ftp archives in the file legalise.txt


    ANZ/TELIO/SHOW3D use a DOS extender so they must be run on 386 or
    better PC compatible computers. They are very disk and memory
    intensive- a legacy of their VAX origins. The executables are quite
    large- around 6 to 9 Megabytes and when running require at least
    16MBytes of free disk space for a virtual memory swap file. They
    also require a math coprocessor. The graphics programs, TELIO and
    SHOW3D, should work on EGA or better adapters though I recommend at
    least a VGA (SVGA is supported).

    The programs were developed on a 66MHz 486 with 16M RAM and run
    quite well on it. They have not been tested on other configurations.


    Source code and DOS executables of these programs as well as sample
    data and documentation are available in PKZIP archive files. These
    are available via anonymous FTP from: in directory /pub/gaitlab

    Copies of hand written notes of the derivations of the kinematics
    and kinetics algorithms within ANZ (~50 pages) are available from
    the program author for $10 US (to cover duplication and shipping).
    If FTP access is not available, the PC archives with derivation
    notes can be obtained from the author for $20 US.

    All requests for derivation notes or copies of the software should
    be sent prepaid in US currency to:

    Dwight Meglan 626 Sheridan Rd. #2 Evanston, IL 60202 USA



    ANZ/TELIO/SHOW3D came about because the gait analysis lab at Ohio
    State needed to replace their locomotion analysis software. That
    package was originally written in Pascal under RSX on a PDP
    computer. It was brought from Boston when Dr. Sheldon Simon moved
    the gait lab from Brigham and Women's Hospital to Ohio State.

    I sought to create a program that would allow the analysis of much
    more than locomotion and would be transportable to other computers.
    At the time the computer language I was most familiar with was
    FORTRAN and this was the only compiler we had on the VAX which was
    the target platform. The graphics display programs were created to
    allow exploration and automation of the presentation of the results
    of gait analyses. SHOW3D was created because I thought that 3D
    pictures with solid shapes for the segments were more effective in
    conveying the data than the stick figures largely in use by other
    labs at the time. The DI3000 graphics package was originally used
    because we got it for free through a campus wide license. During
    this time, I also put together a version of ANZ for the Macintosh
    using Language Systems FORTRAN. This version, which was created
    for my convenience since I was working at home a lot on my
    dissertation, no longer exists.

    When the programs were released in the fall of 1991, I had numerous
    requests for a PC version. At that time, I had finished my
    doctorate at Ohio State and was at the Mayo Clinic Orthopaedic
    Biomechanics Lab doing a post-doc. We used a VAX there which happen
    to have DI3000 on it, so I was not inclined to go through the
    effort of converting the programs. I added a number of new
    analyses to ANZ while at Mayo- some for studies in the lab, some
    for my own exploration. These were not in the 1991 release.

    After finishing at Mayo, I needed to do additional work to get my
    doctoral work published, which required ANZ, TELIO, and SHOW3D.
    Since I do not have a VAX at home and developing the Macintosh
    version left me with unpleasant memories and I was continuing to
    get requests for a PC version, I opted to port the software to DOS.
    The current release and all future releases (if there are anymore)
    will be for DOS. The FORTRAN has been adapted to the WATCOM 32bit
    FORTRAN compiler. The graphics were converted from DI3000 to a nice
    3D public domain graphics package called VOGLE. VOGLE is written in
    C, so it was adapted to the 32bit WATCOM C compiler (mainly the
    screen drivers were changed) and an interlanguage call interface
    added. So after ten months of on again, off again work, there are
    PC versions of all three programs.

    They work well for me. Hopefully they will for others. If they
    don't, change them so they do- everything is here so you can.


    This code is UNSUPPORTED. It has been used extensively in both
    clinical and research contexts and I have tried to validate all
    the calculations, but with something this large there are bound to
    be some latent problems. I am interested in hearing about uses of
    the code by others, improvements, or problems identified. I cannot
    help with debugging or teaching others about what is in here. This
    is intended to be used as a teaching tool for those interested in
    studying human locomotion kinematics and kinetics primarily, not
    as a finished clinical product. In reality it is being used as such
    and I am confident that it carries out this role well, but I do not
    have the time or desire to support this set of programs as would be
    required for a clinical product.

    Comments can be sent to: Dwight Meglan,

    This address should be valid until at least Summer 1993. I would
    prefer email contact because of the potential for people calling
    me inspite of all the disclaimers above.

    This software package was developed to meet the clinical and
    research needs of the gait analysis lab at Ohio State University,
    and later at the Mayo Orthopaedic Biomechancs Lab, and to be used
    as part of the my doctoral research. The dissertation focuses upon
    several new techniques of human locomotion analysis and as such
    goes beyond the areas covered by the ANZ/TELIO/SHOW3D software. In
    most cases, the results of gait analyses done with ANZ were used
    as the starting point for these other analyses. Details of these
    other methods can be found the dissertation:

    Enhanced Analysis of Human Locomotion by Dwight A. Meglan, 1991
    Department of Mechanical Engineering, The Ohio State University

    It can be obtained from University Microfilms Inc. (phone #
    800-521-0600) in book form for approximately $35 US and I believe
    that credit cards may be used as payment. The identification number
    of the dissertation is 92-01716. This work does not describe ANZ,
    TELIO, or SHOW3D in any depth. You will need to look at the
    derivation notes for details of the algorithms in the software.
    Hopefully, all the programs described in the dissertation will
    eventually be made available in the same way that ANZ/TELIO/SHOW3D
    are being made available.