A Complete Robotic Knee As a Tool for a Better Understanding of Joint Dynamics

完整的机器人膝关节作为更好理解关节动力学的工具

• 批准号: 1790878
• 金额: --
• 依托单位: Imperial College London
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2016
• 资助国家: 英国
• 起止时间: 2016 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-1790878
• 关键词: Complete; Robotic; Knee; Tool; Better

It is proposed that current understanding of knee mechanics could be greatly improved by using advanced robotic tools to simulate the mechanics of the joint. The project aim is to build a complete anthropologically accurate robotic model of the knee complete with actuators to simulate muscles and sensor arrays to measure joint position and forces. The model will be used to explore a number of areas, however, a particular focus will be put on the ligaments within the joint in order to explore their role in improving both the control of the system and forces required to produce a particular response. The system will also have applications in the preclinical testing of implant designs for knee arthroplasty as a more accurate and rapid method than existing preclinical practises.

本文提出，通过使用先进的机器人工具来模拟关节的力学，可以大大提高目前对膝关节力学的理解。该项目的目标是建立一个完整的人类学精确的膝关节机器人模型，包括模拟肌肉的执行器和测量关节位置和力的传感器阵列。该模型将用于探索许多领域，然而，一个特别的重点将放在关节内的韧带上，以探索它们在改善系统控制和产生特定反应所需的力量方面的作用。该系统还将应用于膝关节置换术植入物设计的临床前测试，作为一种比现有临床前实践更准确、更快速的方法。

项目成果

A Kinematic Model for the Design of a Bicondylar Mechanical Knee

双髁机械膝关节设计的运动学模型

• DOI: 10.1109/biorob.2018.8487734
• 发表时间: 2018
• 作者: Russell F

Challenges in using compliant ligaments for position estimation within robotic joints.

使用柔顺韧带进行机器人关节内位置估计的挑战。

• DOI: 10.1109/icorr.2017.8009455
• 发表时间: 2017
• 期刊: [proceedings]
• 作者: Russell F