Skip navigation.

  ASMEDL.ORG »  Journals »  J. Biomech. Eng. »  Volume 126 »  pp. 54
Adjust text size: Decrease font size Increase font size

Journal of Biomechanical Engineering
Volume: Page/CID:


Printer friendly abstractPrint abstract
Full Text: [ PDF (485 KB) | HTML   ] Buy this Article   

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

Journal of Biomechanical Engineering -- February 2004 -- Volume 126, Issue 1, pp. 54-61

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

(Received November 18, 1999; revised August 11, 2003)

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.

What Article opptions are available?   View Cart
Full Text: [ PDF (485 KB) | HTML   ] Buy this Article   
Show References | Scitation Citing Articles | CrossRef Citing Articles | All Citing Articles

  ASME is a member of CrossRef.