A novel robotic system for joint biomechanical tests: Application to the human knee joint
A novel robotic system for joint biomechanical tests: Application to the human knee joint
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DOI：
10.1115/1.1644567
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发表时间：
2004-02-01
影响因子：
1.7
通讯作者：
Orita, A
中科院分区：
文献类型：
--
作者：
Fujie, H;Sekito, T;Orita, A
在这篇文章中报告的工作的目标是开发一种新的6度的自由度（DOF）的机器人系统的膝关节生物力学，完成一个混合力-位置控制方案，以评估系统的性能，并证明一个组合的负载测试。该系统的机械手采用两个机构;翻转机构具有两个平移轴和三个旋转轴，而下部机构只有一个平移轴。所有轴均由交流伺服电机驱动。这种独特的配置结果在一个简单的机械手运动的运动学描述。雅可比变换用于计算位移和力/力矩，这允许对施加到人体膝关节的位移和力/力矩进行混合控制。控制和数据采集是在个人计算机上进行的，在C语言编程环境下，具有多任务操作系统。初步测试表明，系统的夹具-夹具顺应性在垂直（Z）和纵向（Y）方向（0.001 mm/N）上小于横向（X）方向（0.003 mm/N）。施加500 N载荷时的位移误差在垂直方向最小（0.001 +/- 0.003 min（平均值+/- SD）），在横向方向最大（0.084 +/- 0.027 mm）。使用该试验系统，可以模拟人体膝关节的多种载荷条件，其中循环前向力与耦合关节压缩力一起施加，同时允许自然膝关节运动。所开发的系统似乎是一个有用的工具，膝关节生物力学的研究。
The objectives of the work reported in this article were to develop a novel 6-degree-of-freedom (DOF) robotic system for knee joint biomechanics, to complete a hybrid force-position control scheme, to evaluate the system performance, and to demonstrate a combined loading test. The manipulator of the system utilizes two mechanisms; the tipper mechanism has two translational axes and three rotational axes while the lower mechanism has only a single translational axis. All axes were driven with AC servo-motors. This unique configuration results in a simple kinematic description of manipulator motion. Jacobian transformation was used to calculate both the displacement and force/moment, which allowed for a hybrid control of the displacement of and force/moment applied to, the human knee joint. The control and data acquisition were performed oil a personal computer in the C-language programming environment with a multi-tasking operating system. Preliminary tests revealed that the clamp-to-clamp compliance of the system was smaller in the vertical (Z) and longitudinal (Y) directions (0.001 mm/N) than in lateral (X) direction (0.003 mm/N). The displacement error under the application of 500 N of load was smallest in the vertical direction (0.001 +/- 0.003 min (mean +/- SD), and-largest ill the lateral direction (0.084 +/- 0.027 mm). Using this test system, it was possible to simulate multiple loading conditions in a human knee joint in which a cyclic anterior force was applied together with a coupled, joint compressive force, while allowing natural knee),notion. The developed system seems to be a useful tool for studies of knee joint biomechanics.