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Technical Briefs

Technical Issues in Using Robots to Reproduce Joint Specific Gait

[+] Author and Article Information
J. M. Rosvold, S. P. Darcy, R. C. Peterson, Y. Achari, D. T. Corr, L. L. Marchuk, C. B. Frank, N. G. Shrive

Department of Civil Engineering, Schulich School of Engineering, University of Calgary, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada

Joshua M. Rosvold

Department of Civil Engineering, Schulich School of Engineering, University of Calgary, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadajoshrosvold@gmail.com

Shon P. Darcy

Technical Solutions Group, QinetiQ North America, 350 Second Avenue, Waltham, MA 02451; Project Engineer at Foster-Miller, Inc., 350 Second Avenue, Waltham, MA 02451shon.darcy@gmail.com

Robert C. Peterson

 Mikrolar, Inc., 7 Scott Road, Suite 5, Hampton, NH 03842r.peterson@mikrolar.com

Yamini Achari

Department of Surgery, University of Calgary, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadayvijayar@ucalgary.ca

David T. Corr

Department of Biomedical Engineering, Rensselaer Polytechnic Institute, 110 8th Street, Troy, NY 12180-3590corrd@rpi.edu

Linda L. Marchuk

Department of Surgery, University of Calgary, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadamarchuk@ucalgary.ca

Cyril B. Frank

Department of Surgery, University of Calgary, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadacfrank@ucalgary.ca

Nigel G. Shrive1

Department of Civil Engineering, Schulich School of Engineering, University of Calgary, c/o McCaig Institute for Bone and Joint Health 3330, Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadangshrive@ucalgary.ca

1

Corresponding author.

J Biomech Eng 133(5), 054501 (May 17, 2011) (4 pages) doi:10.1115/1.4003665 History: Received October 20, 2009; Revised January 28, 2010; Posted February 16, 2011; Published May 17, 2011; Online May 17, 2011

Reproduction of the in vivo motions of joints has become possible with improvements in robot technology and in vivo measuring techniques. A motion analysis system has been used to measure the motions of the tibia and femur of the ovine stifle joint during normal gait. These in vivo motions are then reproduced with a parallel robot. To ensure that the motion of the joint is accurately reproduced and that the resulting data are reliable, the testing frame, the data acquisition system, and the effects of limitations of the testing platform need to be considered. Of the latter, the stiffness of the robot and the ability of the control system to process sequential points on the path of motion in a timely fashion for repeatable path accuracy are of particular importance. Use of the system developed will lead to a better understanding of the mechanical environment of joints and ligaments in vivo.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

The parallel robotic testing system for gait kinematics. The system consists of a stiff L-shaped resistive frame that supports a parallel robotic manipulator (R-2000, Mikrolar, Hampton, NH) and a FaroArm® Coordinate Measuring Machine. The loads resulting from joint motion are measured with a universal force-moment sensor (UFS) (Omega 160, ATI Industrial Automation Apex, NC).

Grahic Jump Location
Figure 2

Load magnitude measured from sequential repetitions of the same robotic path. Timing issues resulted in the data to be temporally mal-aligned.

Grahic Jump Location
Figure 3

Direct force in the PCL in response variation in the speed from 1/15 to 1/60 in vivo speed

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