In vitro spine testing using a robot-based testing system: comparison of displacement control and "hybrid control".
In vitro spine testing using a robot-based testing system: comparison of displacement control and "hybrid control".
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DOI：
10.1016/j.jbiomech.2013.04.007
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发表时间：
2013-06-21
影响因子：
2.4
通讯作者：
Kang JD
中科院分区：
文献类型：
--
作者：
Bell KM;Hartman RA;Gilbertson LG;Kang JD
体外脊柱生物力学测试的两种主要控制算法--“载荷控制”和“位移控制”--在它们缺乏对脊柱标本的载荷-位移响应变化的适应性方面受到限制，这表明需要足够复杂的控制算法，这些算法能够以更现实、自适应的方式管理脊柱标本的载荷/运动的应用。一个基于机器人的脊柱测试系统的程序设计与一种新的混合控制算法相结合的“负载控制”和“位移控制”到一个单一的，强大的算法。在体外尸体测试之前，使用具有已知结构特性的刚体弹簧模型对新算法进行初步测试。本研究还提供了“混合控制”和“位移控制”之间的直接比较。混合控制算法使基于机器人的脊柱测试系统能够通过主动控制次级平移/旋转自由度，以不受约束的方式向FSU施加纯力矩（屈曲/伸展、侧弯或轴向旋转），成功地最大限度地减少了耦合力/力矩。主弯矩-转动响应的特征非线性S形曲线与FSU具有由刚度增加区域（弹性区域）限定的低刚度区域（中性区域）的先前报告一致。“位移控制”和“混合控制”的直接比较表明，混合控制能够主动最大限度地减少离轴力，并导致更大的中性区和运动范围。
The two leading control algorithms for in-vitro spine biomechanical testing—“load control” and “displacement control”— are limited in their lack of adaptation to changes in the load-displacement response of a spine specimen—pointing to the need for sufficiently sophisticated control algorithms that are able to govern the application of loads/motions to a spine specimen in a more realistic, adaptive manner. A robotics-based spine testing system was programmed with a novel hybrid control algorithm combining “load control” and “displacement control” into a single, robust algorithm. Prior to in-vitro cadaveric testing, preliminary testing of the new algorithm was performed using a rigid-body-spring model with known structural properties. The present study also offers a direct comparison between “hybrid control” and “displacement control”. The hybrid control algorithm enabled the robotics-based spine testing system to apply pure moments to an FSU (in flexion/extension, lateral bending, or axial rotation) in an unconstrained manner through active control of secondary translational/rotational degrees-of-freedom—successfully minimizing coupled forces/moments. The characteristic nonlinear S-shaped curves of the primary moment-rotation responses were consistent with previous reports of the FSU having a region of low stiffness (neutral zone) bounded by regions of increasing stiffness (elastic zone). Direct comparison of “displacement control” and “hybrid control” showed that hybrid control was able to actively minimize off-axis forces and resulted in larger neutral zone and range of motion.
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影响因子：
2.4
作者：
Wheeler, Daniel J.;Freeman, Andrew L.;Bechtold, Joan E.
通讯作者：
Bechtold, Joan E.
影响因子：
3
作者：
Gillespie, KA;Dickey, JP
通讯作者：
Dickey, JP
DOI：
10.1007/s005860050045
发表时间：
1998-01-01
期刊：
European spine journal : official publication of the European Spine Society, the European Spinal Deformity Society, and the European Section of the Cervical Spine Research Society
影响因子：
--
作者：
Wilke, H J;Wenger, K;Claes, L
通讯作者：
Claes, L
影响因子：
3
作者：
Grassmann, S;Oxland, TR;Nolte, LP
通讯作者：
Nolte, LP
影响因子：
5.3
作者：
Goel, VK;Panjabi, MM;Serhan, H
通讯作者：
Serhan, H