SciELO - Scientific Electronic Library Online

vol.26 issue45Evaluation of the audible noise level on distribution transformers using the Sound Pressure MethodIn vitro comparison of cytocompotibility between Fibroin and polypropylene biomoteriols author indexsubject indexarticles search
Home Pagealphabetic serial listing  

Services on Demand



Related links

  • On index processCited by Google
  • Have no similar articlesSimilars in SciELO
  • On index processSimilars in Google


Revista Facultad de Ingeniería

Print version ISSN 0121-1129


TORRES-PEREZ, Yolanda; GOMEZ-PACHON, Edwin Yesid  and  MIRO-RODRIGUEZ, Francisco. Two-Dimensional Kinematics of Horses at Trot Through Videiomatry and Mathematical Modeling. Rev. Fac. ing. [online]. 2017, vol.26, n.45, pp.83-96. ISSN 0121-1129.

Currently, the direct observation method is used to assess the movement of horses; however, this method is limited, totally subjective, and many details of the musculoskeletal system functionality cannot be detected and evaluated because they are not perceptible to the naked eye. This study aimed at developing a mathematical model that calculates, plots, and simulates the 2D angular movement of some horse joints. The horse musculoskeletal system was modeled as a mechanical system of rigid bodies articulated by 15 simple joints. The mathematical solution of the mechanism was obtained from the standpoint of inverse kinematics (flat) liabilities. We constructed 15 link equations, associating the body segments of the system in movement with an inertia base, and used the mathematical optimization method based on the least squares calculation. We obtained kinematic curves of the main joints, as well as the trajectories (height) of the markers on fore and hind coronary band (hoofs), and a simulation of the mechanical system. This tool removes subjectivity and enables veterinarians to observe, evaluate (qualitatively and quantitatively), diagnose, and investigate different phenomena of the horse gait.

Keywords : Angular kinematics; Horse locomotion; Inverse kinematics; Mathematical model; Videometry.

        · abstract in Spanish | Portuguese     · text in English     · English ( pdf )