Static and Dynamic Properties of a 6-DOF Robotic System for Knee Joint Biomechanics Study

2013 ◽  
Author(s):  
Hiromichi Fujie ◽  
Kei Kimura ◽  
Satoshi Yamakawa
Keyword(s):  
Knee Joint ◽  
Dynamic Properties ◽  
Robotic System ◽  
Robotic Technology ◽  
Work Space ◽  
High Speeds ◽  
Custom Made ◽  
Force Moment ◽  
Joint Biomechanics ◽  
Large Work

The application of robotic technology to the field of joint biomechaics has started more than 20 years ago 1). Since then, a variety of studies have employed commercially available articulated manipulators for the joint biomechanical studies 1–5). However, such articulated manipulators are generally poor at stiffness and precision although they were basically designed to achieve high speeds of motion while performing tasks in a large work space. To solve the problem, we have previously developed a robotic system consisting of a custom-made 6-degree of freedom (6-DOF) manipulator and a universal force-moment sensor (UFS) 6). The present study was aimed to evaluate the static and dynamic properties of the system.

Novel Robotic System for Joint Mechanical Tests Using Velocity-Impedance Control

2011 ◽  
Author(s):  
Hiromichi Fujie ◽  
Hitoshi Yagi
Keyword(s):  
Impedance Control ◽  
Mechanical Tests ◽  
Robotic System ◽  
High Rate ◽  
Robotic Technology ◽  
High Speeds ◽  
Custom Made ◽  
Force Moment ◽  
Displacement Force ◽  
Large Work

The first study as regard with the application of robotic technology to the field of joint biomechaics was reported more than 20 years ago1). Since then, a variety of studies have employed commercially available articulated manipulators for the joint biomechanical studies1–4). However, such articulated manipulators are generally poor at stiffness and precision although they were basically designed to achieve high speeds of motion while performing tasks in a large work space. To solve the problem, we have previously developed a robotic system consisting of a custom-made 6-degree of freedom (6-DOF) manipulator and a universal force-moment sensor (UFS)5). Referring to the robotic system, the present study was aimed to develop a novel robotic system of rigid body/structure that allows a high-rate displacement/force control of the knee using a velocity-impedance control.

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

2004 ◽  
Vol 126 (1) ◽  
pp. 54-61 ◽  
Author(s):  
Hiromichi Fujie ◽  
Takeshi Sekito ◽  
Akiyuki Orita
Keyword(s):  
Knee Joint ◽  
Position Control ◽  
Vertical Direction ◽  
Test System ◽  
Robotic System ◽  
Loading Test ◽  
Human Knee ◽  
Human Knee Joint ◽  
Force Moment ◽  
Joint Biomechanics

The objectives of the work reported in this article were to develop a novel 6-degree-of-freedom (DOF) robotic system for knee joint biomechanics, to complete a hybrid force-position control scheme, to evaluate the system performance, and to demonstrate a combined loading test. The manipulator of the system utilizes two mechanisms; the upper mechanism has two translational axes and three rotational axes while the lower mechanism has only a single translational axis. All axes were driven with AC servo-motors. This unique configuration results in a simple kinematic description of manipulator motion. Jacobian transformation was used to calculate both the displacement and force/moment, which allowed for a hybrid control of the displacement of, and force/moment applied to, the human knee joint. The control and data acquisition were performed on a personal computer in the C-language programming environment with a multi-tasking operating system. Preliminary tests revealed that the clamp-to-clamp compliance of the system was smaller in the vertical (Z) and longitudinal (Y) directions (0.001 mm/N) than in lateral (X) direction (0.003 mm/N). The displacement error under the application of 500 N of load was smallest in the vertical direction (0.001±0.003 mm (mean±SD), and largest in the lateral direction (0.084±0.027 mm). Using this test system, it was possible to simulate multiple loading conditions in a human knee joint in which a cyclic anterior force was applied together with a coupled, joint compressive force, while allowing natural knee motion. The developed system seems to be a useful tool for studies of knee joint biomechanics.

scholarly journals Seeing Beyond Morphology-Standardized Stress MRI to Assess Human Knee Joint Instability

Diagnostics ◽  
2021 ◽  
Vol 11 (6) ◽  
pp. 1035
Author(s):  
Eva-Maria Winkelmeyer ◽  
Justus Schock ◽  
Lena Marie Wollschläger ◽  
Philipp Schad ◽  
Marc Sebastian Huppertz ◽  
...  
Keyword(s):  
Knee Joint ◽  
Imaging Modality ◽  
Cruciate Ligament ◽  
Acl Injury ◽  
Anterior Tibial Translation ◽  
Joint Stability ◽  
Anatomic Landmarks ◽  
Human Knee Joint ◽  
Custom Made ◽  
Tibial Translation

While providing the reference imaging modality for joint pathologies, MRI is focused on morphology and static configurations, thereby not fully exploiting the modality’s diagnostic capabilities. This study aimed to assess the diagnostic value of stress MRI combining imaging and loading in differentiating partial versus complete anterior cruciate ligament (ACL)-injury. Ten human cadaveric knee joint specimens were subjected to serial imaging using a 3.0T MRI scanner and a custom-made pressure-controlled loading device. Emulating the anterior-drawer test, joints were imaged before and after arthroscopic partial and complete ACL transection in the unloaded and loaded configurations using morphologic sequences. Following manual segmentations and registration of anatomic landmarks, two 3D vectors were computed between anatomic landmarks and registered coordinates. Loading-induced changes were quantified as vector lengths, angles, and projections on the x-, y-, and z-axis, related to the intact unloaded configuration, and referenced to manual measurements. Vector lengths and projections significantly increased with loading and increasing ACL injury and indicated multidimensional changes. Manual measurements confirmed gradually increasing anterior tibial translation. Beyond imaging of ligament structure and functionality, stress MRI techniques can quantify joint stability to differentiate partial and complete ACL injury and, possibly, compare surgical procedures and monitor treatment outcomes.

The Use of a Permutation Approach in the Solution of Joint Biomechanics: The Knee

1981 ◽  
Vol 10 (1) ◽  
pp. 39-43 ◽  
Author(s):  
M Nissan
Keyword(s):  
Knee Joint ◽  
Accurate Solution ◽  
Joint Diseases ◽  
Prosthetic Design ◽  
Regular Method ◽  
Internal Equilibrium ◽  
Joint Biomechanics ◽  
Human Joints

The internal equilibrium of human joints has been dealt with by many investigators, either as a means for better understanding and treating joint diseases or as a basis for prosthetic design. In all cases there is less information than needed for an accurate solution, and the investigators have to use simplifying geometry and restricting assumptions. In this work a permutation method was used, which takes advantage of big computer facilities in order to reduce the number of assumptions needed. The method was used for the case of the knee joint. The results were compared to those available using a regular method, showing the permutation one to be superior.

Comparison of Constitutive Models for Meniscus and Their Effect on the Knee Joint Biomechanics During Gait

2021 ◽  
Author(s):  
Tulashi Simkheada ◽  
Gustavo A. Orozco ◽  
Rami K. Korhonen ◽  
Petri Tanska ◽  
Mika Mononen
Keyword(s):  
Knee Joint ◽  
Constitutive Models ◽  
Joint Biomechanics

Quantifying Achievable Levels of Improvement in Knee Joint Biomechanics During Gait After Total Knee Arthroplasty Relative to Osteoarthritis Severity

2020 ◽  
pp. 1-9
Author(s):  
Jereme B. Outerleys ◽  
Michael J. Dunbar ◽  
Glen Richardson ◽  
Cheryl L. Hubley-Kozey ◽  
Janie L. Astephen Wilson
Keyword(s):  
Total Knee Arthroplasty ◽  
Knee Joint ◽  
Knee Arthroplasty ◽  
Frontal Plane ◽  
Knee Adduction Moment ◽  
Patient Specific ◽  
Knee Biomechanics ◽  
Knee Oa ◽  
Joint Biomechanics ◽  
Total Knee

Total knee arthroplasty (TKA) surgery improves knee joint kinematics and kinetics during gait for most patients, but a lack of evidence exists for the level and incidence of improvement that is achieved. The objective of this study was to quantify patient-specific improvements in knee biomechanics relative to osteoarthritis (OA) severity levels. Seventy-two patients underwent 3-dimensional (3D) gait analysis before and 1 year after TKA surgery, as well as 72 asymptomatic adults and 72 with moderate knee OA. A combination of principal component analysis and discriminant analyses were used to categorize knee joint biomechanics for patients before and after surgery relative to asymptomatic, moderate, and severe OA. Post-TKA, 63% were categorized with knee biomechanics consistent with moderate OA, 29% with severe OA, and 8% asymptomatic. The magnitude and pattern of the knee adduction moment and angle (frontal plane features) were the most significant contributors in discriminating between pre-TKA and post-TKA knee biomechanics. Standard of care TKA improves knee biomechanics during gait to levels most consistent with moderate knee OA and predominately targets frontal plane features. These results provide evidence for the level of improvement in knee biomechanics that can be expected following surgery and highlight the biomechanics most targeted by surgery.

Deficient knee joint biomechanics in bilateral jumping after anterior cruciate ligament reconstruction

2020 ◽  
Vol 77 ◽  
pp. 105048
Author(s):  
Frieder Cornelius Krafft ◽  
Bernd Josef Stetter ◽  
Thorsten Stein ◽  
Andree Ellermann ◽  
Johannes Flechtenmacher ◽  
...  
Keyword(s):  
Anterior Cruciate Ligament ◽  
Knee Joint ◽  
Anterior Cruciate Ligament Reconstruction ◽  
Ligament Reconstruction ◽  
Cruciate Ligament ◽  
Cruciate Ligament Reconstruction ◽  
Joint Biomechanics ◽  
Anterior Cruciate ◽  
Deficient Knee
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