A Novel Testing Platform for Assessing Knee Joint Mechanics: A Parallel Robotic System Combined with an Instrumented Spatial Linkage
Assessing joint function following trauma and its inter-relation with degenerative changes requires an understanding of the normal state of structural loading in the joint. Very few studies have attempted to reproduce joint specific in vivo motions in vitro to quantify the actual loads carried by di...
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Veröffentlicht in: | Annals of biomedical engineering 2014-05, Vol.42 (5), p.1121-1132 |
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creator | Atarod, Mohammad Rosvold, Joshua M. Frank, Cyril B. Shrive, Nigel G. |
description | Assessing joint function following trauma and its inter-relation with degenerative changes requires an understanding of the normal state of structural loading in the joint. Very few studies have attempted to reproduce joint specific
in vivo
motions
in vitro
to quantify the actual loads carried by different tissues within the knee joint. The most significant challenge in this area is the very high sensitivity of the loads in joint structures to motion reproduction accuracy. A novel testing platform for assessing knee joint mechanics is described, comprised of a highly accurate (0.3 ± 0.1 mm, 0.3 ± 0.1°) six-degree-of-freedom (6-DOF) instrumented spatial linkage (ISL) for
in vivo
joint kinematic assessments and a unique 6-DOF parallel robotic manipulator. A position feedback system (ISL and position controller) is used for accurate reproduction of
in vivo
joint motions and estimation of “
in situ
” joint/tissue loads. The parallel robotic manipulator provides excellent stiffness and repeatability in reproducing physiological motions in 6-DOF, compared to the commonly used serial robots. The position feedback system provides real-time feedback data to the robot to reproduce
in vivo
motions and significantly enhances motion reproduction accuracy by adjusting for robot end-effector movements. Using this combined robot-ISL system,
in vivo
motions can be reproduced
in vitro
with very high accuracy (0.1 mm, 0.1°). Our results indicate that this level of accuracy is essential for meaningful estimation of tissue loads during gait. Using this novel testing platform, we have determined the normal load-carrying characteristics of different tissues within the ovine knee joint. The application of this testing system will continue to increase our understanding of normal and pathological joint states. |
doi_str_mv | 10.1007/s10439-014-0985-9 |
format | Article |
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in vivo
motions
in vitro
to quantify the actual loads carried by different tissues within the knee joint. The most significant challenge in this area is the very high sensitivity of the loads in joint structures to motion reproduction accuracy. A novel testing platform for assessing knee joint mechanics is described, comprised of a highly accurate (0.3 ± 0.1 mm, 0.3 ± 0.1°) six-degree-of-freedom (6-DOF) instrumented spatial linkage (ISL) for
in vivo
joint kinematic assessments and a unique 6-DOF parallel robotic manipulator. A position feedback system (ISL and position controller) is used for accurate reproduction of
in vivo
joint motions and estimation of “
in situ
” joint/tissue loads. The parallel robotic manipulator provides excellent stiffness and repeatability in reproducing physiological motions in 6-DOF, compared to the commonly used serial robots. The position feedback system provides real-time feedback data to the robot to reproduce
in vivo
motions and significantly enhances motion reproduction accuracy by adjusting for robot end-effector movements. Using this combined robot-ISL system,
in vivo
motions can be reproduced
in vitro
with very high accuracy (0.1 mm, 0.1°). Our results indicate that this level of accuracy is essential for meaningful estimation of tissue loads during gait. Using this novel testing platform, we have determined the normal load-carrying characteristics of different tissues within the ovine knee joint. The application of this testing system will continue to increase our understanding of normal and pathological joint states.</description><identifier>ISSN: 0090-6964</identifier><identifier>EISSN: 1573-9686</identifier><identifier>DOI: 10.1007/s10439-014-0985-9</identifier><identifier>PMID: 24519725</identifier><language>eng</language><publisher>Boston: Springer US</publisher><subject>Animals ; Biochemistry ; Biological and Medical Physics ; Biomechanical Phenomena ; Biomedical and Life Sciences ; Biomedical Engineering and Bioengineering ; Biomedicine ; Biophysics ; Classical Mechanics ; Gait - physiology ; Knee Joint - physiology ; Robotics ; Sheep ; Stifle - physiology</subject><ispartof>Annals of biomedical engineering, 2014-05, Vol.42 (5), p.1121-1132</ispartof><rights>Biomedical Engineering Society 2014</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c405t-10c7fc1a0cce2b7a704f721787af19def8c8e743c8e17fcd0995d9fd575112d73</citedby><cites>FETCH-LOGICAL-c405t-10c7fc1a0cce2b7a704f721787af19def8c8e743c8e17fcd0995d9fd575112d73</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10439-014-0985-9$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10439-014-0985-9$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,780,784,27922,27923,41486,42555,51317</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/24519725$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Atarod, Mohammad</creatorcontrib><creatorcontrib>Rosvold, Joshua M.</creatorcontrib><creatorcontrib>Frank, Cyril B.</creatorcontrib><creatorcontrib>Shrive, Nigel G.</creatorcontrib><title>A Novel Testing Platform for Assessing Knee Joint Mechanics: A Parallel Robotic System Combined with an Instrumented Spatial Linkage</title><title>Annals of biomedical engineering</title><addtitle>Ann Biomed Eng</addtitle><addtitle>Ann Biomed Eng</addtitle><description>Assessing joint function following trauma and its inter-relation with degenerative changes requires an understanding of the normal state of structural loading in the joint. Very few studies have attempted to reproduce joint specific
in vivo
motions
in vitro
to quantify the actual loads carried by different tissues within the knee joint. The most significant challenge in this area is the very high sensitivity of the loads in joint structures to motion reproduction accuracy. A novel testing platform for assessing knee joint mechanics is described, comprised of a highly accurate (0.3 ± 0.1 mm, 0.3 ± 0.1°) six-degree-of-freedom (6-DOF) instrumented spatial linkage (ISL) for
in vivo
joint kinematic assessments and a unique 6-DOF parallel robotic manipulator. A position feedback system (ISL and position controller) is used for accurate reproduction of
in vivo
joint motions and estimation of “
in situ
” joint/tissue loads. The parallel robotic manipulator provides excellent stiffness and repeatability in reproducing physiological motions in 6-DOF, compared to the commonly used serial robots. The position feedback system provides real-time feedback data to the robot to reproduce
in vivo
motions and significantly enhances motion reproduction accuracy by adjusting for robot end-effector movements. Using this combined robot-ISL system,
in vivo
motions can be reproduced
in vitro
with very high accuracy (0.1 mm, 0.1°). Our results indicate that this level of accuracy is essential for meaningful estimation of tissue loads during gait. Using this novel testing platform, we have determined the normal load-carrying characteristics of different tissues within the ovine knee joint. The application of this testing system will continue to increase our understanding of normal and pathological joint states.</description><subject>Animals</subject><subject>Biochemistry</subject><subject>Biological and Medical Physics</subject><subject>Biomechanical Phenomena</subject><subject>Biomedical and Life Sciences</subject><subject>Biomedical Engineering and Bioengineering</subject><subject>Biomedicine</subject><subject>Biophysics</subject><subject>Classical Mechanics</subject><subject>Gait - physiology</subject><subject>Knee Joint - physiology</subject><subject>Robotics</subject><subject>Sheep</subject><subject>Stifle - physiology</subject><issn>0090-6964</issn><issn>1573-9686</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><sourceid>EIF</sourceid><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNqNkUFv1DAQhS0EotvCD-CCLHHhEphJ4jjmtlpBKSxQ0XKOvM5k65LYW9sB9c4Px6stCCEhcZmRZr737NFj7AnCCwSQLyNCXakCsC5AtaJQ99gChawK1bTNfbYAUFA0qqmP2HGM1wCIbSUesqOyFqhkKRbsx5J_9N9o5JcUk3Vbfj7qNPgw8Vz4MkaKcT9-74j4O29d4h_IXGlnTXzFl_xcBz2OWf_Zb3yyhl_cxkQTX_lpYx31_LtNV1w7fuZiCvNELuXhxU4nq0e-tu6r3tIj9mDQY6THd_2EfXnz-nL1tlh_Oj1bLdeFqUGkAsHIwaAGY6jcSC2hHmSJspV6QNXT0JqWZF3lihnsQSnRq6EXUiCWvaxO2POD7y74mzkf3E02GhpH7cjPsUOBjawblM3_oFgp1VSQ0Wd_odd-Di4fsqdA1vmfbabwQJngYww0dLtgJx1uO4Run2Z3SLPLaXb7NDuVNU_vnOfNRP1vxa_4MlAegJhXbkvhj6f_6foTpXiqBA</recordid><startdate>20140501</startdate><enddate>20140501</enddate><creator>Atarod, Mohammad</creator><creator>Rosvold, Joshua M.</creator><creator>Frank, Cyril B.</creator><creator>Shrive, Nigel G.</creator><general>Springer US</general><general>Springer Nature B.V</general><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7QF</scope><scope>7QO</scope><scope>7QQ</scope><scope>7SC</scope><scope>7SE</scope><scope>7SP</scope><scope>7SR</scope><scope>7TA</scope><scope>7TB</scope><scope>7U5</scope><scope>7X7</scope><scope>7XB</scope><scope>88E</scope><scope>8AO</scope><scope>8BQ</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FH</scope><scope>8FI</scope><scope>8FJ</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AEUYN</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BBNVY</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>BHPHI</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F28</scope><scope>FR3</scope><scope>FYUFA</scope><scope>GHDGH</scope><scope>GNUQQ</scope><scope>H8D</scope><scope>H8G</scope><scope>HCIFZ</scope><scope>JG9</scope><scope>JQ2</scope><scope>K9.</scope><scope>KR7</scope><scope>L6V</scope><scope>L7M</scope><scope>LK8</scope><scope>L~C</scope><scope>L~D</scope><scope>M0S</scope><scope>M1P</scope><scope>M7P</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>P64</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PTHSS</scope><scope>7X8</scope></search><sort><creationdate>20140501</creationdate><title>A Novel Testing Platform for Assessing Knee Joint Mechanics: A Parallel Robotic System Combined with an Instrumented Spatial Linkage</title><author>Atarod, Mohammad ; Rosvold, Joshua M. ; Frank, Cyril B. ; Shrive, Nigel G.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c405t-10c7fc1a0cce2b7a704f721787af19def8c8e743c8e17fcd0995d9fd575112d73</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2014</creationdate><topic>Animals</topic><topic>Biochemistry</topic><topic>Biological and Medical Physics</topic><topic>Biomechanical Phenomena</topic><topic>Biomedical and Life Sciences</topic><topic>Biomedical Engineering and Bioengineering</topic><topic>Biomedicine</topic><topic>Biophysics</topic><topic>Classical Mechanics</topic><topic>Gait - 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Academic</collection><jtitle>Annals of biomedical engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Atarod, Mohammad</au><au>Rosvold, Joshua M.</au><au>Frank, Cyril B.</au><au>Shrive, Nigel G.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A Novel Testing Platform for Assessing Knee Joint Mechanics: A Parallel Robotic System Combined with an Instrumented Spatial Linkage</atitle><jtitle>Annals of biomedical engineering</jtitle><stitle>Ann Biomed Eng</stitle><addtitle>Ann Biomed Eng</addtitle><date>2014-05-01</date><risdate>2014</risdate><volume>42</volume><issue>5</issue><spage>1121</spage><epage>1132</epage><pages>1121-1132</pages><issn>0090-6964</issn><eissn>1573-9686</eissn><abstract>Assessing joint function following trauma and its inter-relation with degenerative changes requires an understanding of the normal state of structural loading in the joint. Very few studies have attempted to reproduce joint specific
in vivo
motions
in vitro
to quantify the actual loads carried by different tissues within the knee joint. The most significant challenge in this area is the very high sensitivity of the loads in joint structures to motion reproduction accuracy. A novel testing platform for assessing knee joint mechanics is described, comprised of a highly accurate (0.3 ± 0.1 mm, 0.3 ± 0.1°) six-degree-of-freedom (6-DOF) instrumented spatial linkage (ISL) for
in vivo
joint kinematic assessments and a unique 6-DOF parallel robotic manipulator. A position feedback system (ISL and position controller) is used for accurate reproduction of
in vivo
joint motions and estimation of “
in situ
” joint/tissue loads. The parallel robotic manipulator provides excellent stiffness and repeatability in reproducing physiological motions in 6-DOF, compared to the commonly used serial robots. The position feedback system provides real-time feedback data to the robot to reproduce
in vivo
motions and significantly enhances motion reproduction accuracy by adjusting for robot end-effector movements. Using this combined robot-ISL system,
in vivo
motions can be reproduced
in vitro
with very high accuracy (0.1 mm, 0.1°). Our results indicate that this level of accuracy is essential for meaningful estimation of tissue loads during gait. Using this novel testing platform, we have determined the normal load-carrying characteristics of different tissues within the ovine knee joint. The application of this testing system will continue to increase our understanding of normal and pathological joint states.</abstract><cop>Boston</cop><pub>Springer US</pub><pmid>24519725</pmid><doi>10.1007/s10439-014-0985-9</doi><tpages>12</tpages></addata></record> |
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subjects | Animals Biochemistry Biological and Medical Physics Biomechanical Phenomena Biomedical and Life Sciences Biomedical Engineering and Bioengineering Biomedicine Biophysics Classical Mechanics Gait - physiology Knee Joint - physiology Robotics Sheep Stifle - physiology |
title | A Novel Testing Platform for Assessing Knee Joint Mechanics: A Parallel Robotic System Combined with an Instrumented Spatial Linkage |
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