A Novel Robotic System for Joint Biomechanical Tests: Application to the Human Knee Joint

[+] Author and Article Information
Hiromichi Fujie

Biomechanics Laboratory, Kogakuin University, 2665-1 Nakanomachi, Hachioji, Tokyo 192-0015, Japan

Takeshi Sekito

Toyota Motor Corp., Toyota, Aichi 471-8572, Japan

Akiyuki Orita

Kawatetsu Systems Inc., Koto-ku, Tokyo 136-8532, Japan

J Biomech Eng 126(1), 54-61 (Mar 09, 2004) (8 pages) doi:10.1115/1.1644567 History: Received November 18, 1999; Revised August 11, 2003; Online March 09, 2004
Copyright © 2004 by ASME
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Grahic Jump Location
Diagram of 6-DOF robotic system designed and developed in the present study. The manipulator of the system consisted of the upper mechanism (two translational and three rotational axes) and the lower mechanism (a translational axis). The reference coordinate system is shown by X-, Y-, and Z-axes.
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Diagram depicting the method used to fix the femoral coordinate system, Cf, to the femur. The position and orientation of the coordinate system were fixed to the femur using the insertion sites of the collateral ligaments and the perimeters of the femur.
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Diagram illustrating the knee joint coordinate system (KJCS), C, in relation to the femoral and tibial coordinate systems, Cf and Ct respectively, sensor coordinate system, Cs, and manipulator coordinate system, Cm. The differential motions, dθ and mdΔ, described with respect to C and Cm respectively, were related by Jacobians, J1,J2, and J3. The forces/moments, F and sF, described with respect to C and Cs respectively, were related by Jacobians J1 and J2.
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Block diagram of the hybrid position/force control of the human knee specimen in the robotic system. The force/moment control was achieved by transforming differential force/moment to differential displacement using a compliance R.
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Plots of temporal changes of anterior and proximal displacements and forces and moments of the human knee during the application of a cyclic anterior drawer force (0–100 N) with a constant compressive force (100 N). The medial, anterior, and proximal DOFs in translation and force, and extension, internal, and varus DOFs in rotation and moment are indicated as positive.




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