Mathematical Modeling and Measurement of the 6-DOF Force and Momont at the Human Knee Joint

人体膝关节六自由度力和莫蒙的数学建模和测量

• 批准号: 05671228
• 负责人: TSUKAMOTO Yukio
• 金额: $ 1.28万
• 依托单位: School of Medicine, Kitasato University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1994
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05671228/
• 关键词: Mathematical Modeling; Six-Degree of freedam; Force and Moment; Human Knee; Jacobian; Universal Force-Moment Sonsor; 運動自由度; 同次変換; 6軸力センサ

A mathematical description of forces and moments with respect to a six degree-of-freedom (DOF) kinematic model, originally developed by Grood and Suntay, was performed using a 6*6 Jacobian matrix in this study. Note that the Jacobian is a function of 4-DOF knee displacements (Varus-valgus rotation, Anterior-posterior translation, Internal-external rotation, and Proximal-distal translation), therefore the knee motion has to be measured to determine knee force and moment.A human knee cadaveric specimen was dissected down to joint capsule and mounted in an Instron material testing machine. Anterior drawer displacement was applied to the knee using the cross-head of the machine without allowing the natural motion of the joint. Forces and moments applied to the tibia were measured with a universal force-moment sensor (UFS), and were substituted to the mathematics to calculate the forces and moments at the human knee joint. It was found that, under anterior force up to 100 N,significant forces and moments develop in all other DOF of the joint, that was also found under posterior force up to 100 N.These results corresponded well with clinical observations such as internal tibial rotation with anterior force.

在这项研究中，使用一个6*6雅可比矩阵的力和力矩的数学描述的六个自由度（DOF）的运动学模型，最初开发的Grood和Suntay。请注意，雅可比矩阵是4-DOF膝关节位移（内翻-外翻旋转、前后平移、内外旋转和近端-远端平移）的函数，因此必须测量膝关节运动以确定膝关节力和力矩。将人膝关节尸体样本解剖至关节囊并安装在Instron材料试验机中。使用机器的十字头对膝关节施加前抽屉移位，不允许关节自然运动。用通用力矩传感器（UFS）测量施加在胫骨上的力和力矩，并将其代入数学计算中，以计算人体膝关节处的力和力矩。结果发现，在前向力高达100 N时，关节的所有其他自由度都产生了显著的力和力矩，在后向力高达100 N时也发现了这一点。这些结果与临床观察结果一致，例如胫骨内旋与前向力。

项目成果

H.Fujie, K.Mabuchi, Y.Tsukamoto, G.A.Livesay, S.L-Y.Woo, and T.Sasada: "Measurement of Forces and Moments Applied with Respect to The Six-Degree of Freedom of Human Knee Joints (Japanese)" Proc. of Annual Meeting of Japanese Society for Clinical Biomech.

H.Fujie、K.Mabuchi、Y.Tsukamoto、G.A.Livesay、S.L-Y.Woo 和 T.Sasada：“测量人类膝关节六自由度所应用的力和力矩（日语）”

Hiromichi Fujie,etal.: "Six-DOF Forces and Moments at the Human Knee Joint:A Mathematical Description with respect to a Non-orthogonal Coordinate System" The Proceedings of the Second International Symposium on 3-D Analysis of Human Movement. 39-42 (1993)

Hiromichi Fujie 等人：“人体膝关节处的六自由度力和力矩：关于非正交坐标系的数学描述”第二届人体运动 3D 分析国际研讨会论文集。

藤江裕道,柏口新二,G.A.Livesay,S.L-Y,Woo: "膝関節動揺性試験(Lachman テスト)実行時に生じる前十字靱帯内張力の大きさと分布" 日本機械学会論文集A編. 60(578). 291-295 (1994)

Hiromichi Fujie、Shinji Kashiguchi、G.A. Livesay、S.L-Y、Woo：“膝关节活动性测试（拉赫曼测试）期间发生的前十字韧带张力的大小和分布”，日本机械工程师学会汇刊，卷A.60（578）。

H.Fujie,K.Mabuchi,S.L.-Y.Woo,G.A.Livesay,S.Arai,and Y.Tsukamoto: "The Use of Robotics Technology to Study Human Joint Kinematics:A New Methodology" Journal of Biomechanical Engineering. 115. 211-217 (1993)

H.Fujie、K.Mabuchi、S.L.-Y.Woo、G.A.Livesay、S.Arai 和 Y.Tsukamoto：“利用机器人技术研究人体关节运动学：一种新方法”生物机械工程学杂志。

Yukio Tsukamoto: "Motion of the Bipolar Hip Prosthesis Components" Acta Orthop.Scand.63(6). 648-652 (1992)

Yukio Tsukamoto：“双极髋关节假体组件的运动”Acta Orthop.Scand.63(6)。