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首页> 外文期刊>Journal of Biomechanics >A novel methodology to reproduce previously recorded six-degree of freedom kinematics on the same diarthrodial joint.
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A novel methodology to reproduce previously recorded six-degree of freedom kinematics on the same diarthrodial joint.

机译：一种在相同的双关节关节上重现先前记录的六自由度运动学的新颖方法。

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The objective of this study was to develop a novel method to more accurately reproduce previously recorded 6-DOF kinematics of the tibia with respect to the femur using robotic technology. Furthermore, the effect of performing only a single or multiple registrations and the effect of robot joint configuration were investigated. A single registration consisted of registering the tibia and femur with respect to the robot at full extension and reproducing all kinematics while multiple registrations consisted of registering the bones at each flexion angle and reproducing only the kinematics of the corresponding flexion angle. Kinematics of the knee in response to an anterior (134 N) and combined internal/external (+/-10 N m) and varus/valgus (+/-5 N m) loads were collected at 0 degrees , 15 degrees , 30 degrees , 60 degrees , and 90 degrees of flexion. A six axes, serial-articulated robotic manipulator (PUMA Model 762) was calibrated and the working volume was reduced to improve the robot's accuracy. The effect of the robot joint configuration was determined by performing single and multiple registrations for three selected configurations. For each robot joint configuration, the accuracy in position of the reproduced kinematics improved after multiple registrations (0.7+/-0.3, 1.2+/-0.5, and 0.9+/-0.2 mm, respectively) when compared to only a single registration (1.3+/-0.9, 2.0+/-1.0, and 1.5+/-0.7 mm, respectively) (p<0.05). The accuracy in position of each robot joint configuration was unique as significant differences were detected between each of the configurations. These data demonstrate that the number of registrations and the robot joint configuration both affect the accuracy of the reproduced kinematics. Therefore, when using robotic technology to reproduce previously recorded kinematics, it may be necessary to perform these analyses for each individual robotic system and for each diarthrodial joint, as different joints will require the robot to be placed in different robot joint configurations.
机译：这项研究的目的是开发一种新颖的方法，以使用机器人技术更准确地重现先前记录的胫骨相对于股骨的6自由度运动学。此外，还研究了仅执行一次或多次注册的效果以及机器人关节配置的效果。一次配准包括相对于机器人在完全伸展时对胫骨和股骨进行配准并复制所有运动学，而多次配准包括在每个屈曲角度配准骨骼并仅复制相应屈曲角的运动学。分别在0度，15度，30度下收集膝盖对前部（134 N）以及内部/外部（+/- 10 N m）和内翻/外翻（+/- 5 N m）组合负载的运动学信息，60度和90度弯曲。对六轴串行多关节机器人机械手（PUMA 762型）进行了校准，并减少了工作量以提高机器人的精度。机器人关节配置的效果是通过对三种选定配置执行一次和多次注册来确定的。对于每种机器人关节配置，与仅进行一次配准（1.3次配准）相比，多次配准（分别为0.7 +/- 0.3、1.2 +/- 0.5和0.9 +/- 0.2毫米）后，复制运动学的位置精度都会提高。分别为+/- 0.9、2.0 +/- 1.0和1.5 +/- 0.7毫米）（p <0.05）。每个机器人关节配置的位置精度都是唯一的，因为在每个配置之间都检测到显着差异。这些数据表明，套准数量和机器人关节配置均会影响复制的运动学精度。因此，当使用机器人技术复制以前记录的运动学时，可能有必要对每个单独的机器人系统和每个双关节关节进行这些分析，因为不同的关节将需要将机器人放置在不同的机器人关节配置中。

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