THE USE OF ROBOTICS TECHNOLOGY TO STUDY HUMAN JOINT KINEMATICS - A NEW METHODOLOGY

被引:165
作者
FUJIE, H
MABUCHI, K
WOO, SLY
LIVESAY, GA
ARAI, S
TSUKAMOTO, Y
机构
[1] KITASATO UNIV, SCH MED, DEPT ORTHOPAED SURG, SAGAMIHARA, KANAGAWA 228, JAPAN
[2] KITASATO UNIV, SCH MED, DEPT BIOMED ENGN, SAGAMIHARA, KANAGAWA 228, JAPAN
[3] MITSUBISHI ELECTR CORP, AICHI 461, JAPAN
来源
JOURNAL OF BIOMECHANICAL ENGINEERING-TRANSACTIONS OF THE ASME | 1993年 / 115卷 / 03期
关键词
D O I
10.1115/1.2895477
中图分类号
Q6 [生物物理学];
学科分类号
071011 ;
摘要
Robotics technologies have been modified to control and measure both the force and position of synovial joints for the study of joint kinematics. One such system was developed to perform kinematic testing of a human joint. A 6-axis articulated robotic manipulator with 6 degrees of freedom (DOF) of motion was designed and constructed; a mathematical description for joint force and position was devised; and hardware and software to control forces applied to the joint, as well as position of the joint, were developed. The new methodology was utilized to simulate physiological loading conditions and to perform an anterior-posterior (A-P) translation test on a human cadaveric knee. Testing showed that this new system can simulate complex loading conditions and also measure the resulting joint kinematics.
引用
收藏
页码:211 / 217
页数:7
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