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.
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August 1993
Research Papers
The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology
Hiromichi Fujie,
Hiromichi Fujie
Musculoskeletal Research Center, Department of Orthopaedic Surgery, University of Pittsburgh Medical Center, Pittsburgh, PA 15213
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Kiyoshi Mabuchi,
Kiyoshi Mabuchi
Department of Biomedical Engineering, School of Medicine, Kitasato University, Kanagawa, Japan 228
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Savio L.-Y. Woo,
Savio L.-Y. Woo
Musculoskeletal Research Center, Department of Orthopaedic Surgery, University of Pittsburgh Medical Center, Pittsburgh, PA 15213
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Glen A. Livesay,
Glen A. Livesay
Musculoskeletal Research Center, Department of Orthopaedic Surgery, University of Pittsburgh Medical Center, Pittsburgh, PA 15213
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Shinji Arai,
Shinji Arai
Mitsubishi Electric Corporation, Aichi, Japan 461
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Yukio Tsukamoto
Yukio Tsukamoto
Department of Orthopaedic Surgery, School of Medicine, Kitasato University, Kanagawa, Japan 228
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Hiromichi Fujie
Musculoskeletal Research Center, Department of Orthopaedic Surgery, University of Pittsburgh Medical Center, Pittsburgh, PA 15213
Kiyoshi Mabuchi
Department of Biomedical Engineering, School of Medicine, Kitasato University, Kanagawa, Japan 228
Savio L.-Y. Woo
Musculoskeletal Research Center, Department of Orthopaedic Surgery, University of Pittsburgh Medical Center, Pittsburgh, PA 15213
Glen A. Livesay
Musculoskeletal Research Center, Department of Orthopaedic Surgery, University of Pittsburgh Medical Center, Pittsburgh, PA 15213
Shinji Arai
Mitsubishi Electric Corporation, Aichi, Japan 461
Yukio Tsukamoto
Department of Orthopaedic Surgery, School of Medicine, Kitasato University, Kanagawa, Japan 228
J Biomech Eng. Aug 1993, 115(3): 211-217 (7 pages)
Published Online: August 1, 1993
Article history
Received:
April 3, 1992
Revised:
August 21, 1992
Online:
March 17, 2008
Citation
Fujie, H., Mabuchi, K., Woo, S. L., Livesay, G. A., Arai, S., and Tsukamoto, Y. (August 1, 1993). "The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology." ASME. J Biomech Eng. August 1993; 115(3): 211–217. https://doi.org/10.1115/1.2895477
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