Measurements of friction in synovial joints to assess the lubrication mechanism by a robotic arm under the force control

测量滑膜关节的摩擦力，以评估力控制下机械臂的润滑机制

• 批准号: 10680801
• 负责人: MABUCHI Kiyoshi
• 金额: $ 2.05万
• 依托单位: Kitasato university
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10680801/
• 关键词: synovial joint; lubrication; friction; robotics; hyaluronic acid; biotribology; ロボティクス; 潤滑メカニズム; 力覚制御; ロボット; 摩擦測定

A system to measure joint friction was designed using a robotic arm. Force control was used to survey the geometry of sliding surfaces. Five rabbit stifles were used for each experiment. First, the experimental conditions tested were I) intact joints, ii) after washing the joint surfaces, iii) susequently after addition of 1 wt% hyaluronic acid (HA). The start-up friction were low immediately after loading on any joints. That increased with washing and decreased after the addition of HA. Additionally, friction in rabbit stifle joints that were experimentally degenerated by the in-vivo injection of papain was measured. That start-up coefficient of friction was triple of that on intact joints after a period of loading. That was not decreased by addition of HA.

设计了一种基于机械臂的关节摩擦力测量系统，采用力控制测量滑动面的几何形状。每个实验使用5只家兔膝关节。首先，测试的实验条件是I）完整的关节，ii）在清洗关节表面之后，iii）随后在添加1重量%透明质酸（HA）之后。在任何接头上加载后，启动摩擦立即降低。随着洗涤而增加，加入HA后减少。此外，在兔后膝关节的摩擦力，实验退化的木瓜蛋白酶在体内注射进行了测量。加载一段时间后，启动摩擦系数是完整接头的三倍。这并没有通过添加HA而降低。

项目成果

Mabuchi K: "Relaitionship between the conformity and the lubricating ability of synovial joints"Clinical Biomechanics. 13. 250-255 (1998)

Mabuchi K：“滑膜关节的顺应性与润滑能力之间的关系”临床生物力学。

Mabuchi, K., Ujihira, M., Sasada, T.:: "Influences of the conformity of articular surfaces on the lubricating ability."J.Jap. Soc. Clin. Biomech. Rel. Res.. 19:(in Japanese). 259-262, (1998.)

Mabuchi, K.、Ujihira, M.、Sasada, T.：“关节表面的一致性对润滑能力的影响。”J.Jap。

Mabuchi K, Obara T, Ikegami K, Yamaguchi T, Kanayama T:: "Molecular weight independence of the effect of additive hyaluronic acid on the Iubricating characteristics in synovial joints with experimental deterioration."Clinical biomechanics. 14-5:. 352-356,

Mabuchi K、Obara T、Ikegami K、Yamaguchi T、Kanayama T：“添加透明质酸对实验恶化滑膜关节润滑特性的影响与分子量无关。”临床生物力学。

馬渕 清資: "セラミックス・セラミックス人工股関節に発生する引き抜き力"日本人工関節学会誌. 29. 295-296 (1999)

Kiyosuke Mabuchi：“陶瓷/陶瓷人工髋关节中产生的拉力”日本人工关节学会杂志 29. 295-296 (1999)。

馬淵清資: "関節軟骨の摩擦挙動に影響を及ぼす接触面の適合性"日本臨床バイオメカニクス学会誌. 19. 259-262 (1998)

Kiyoshi Mabuchi：“影响关节软骨摩擦行为的接触表面的一致性”日本临床生物力学学会杂志 19. 259-262 (1998)。