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首页> 外文期刊>Journal of Medical Devices >A Multiaxis Programmable Robot for the Study of Multibody Spine Biomechanics Using a Real-Time Trajectory Path Modification Force and Displacement Control Strategy
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A Multiaxis Programmable Robot for the Study of Multibody Spine Biomechanics Using a Real-Time Trajectory Path Modification Force and Displacement Control Strategy

机译：使用实时轨迹路径修改力和位移控制策略研究多体脊柱生物力学的多轴可编程机器人

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Robotic testing offers potential advantages over conventional methods including coordinated control of multiple degrees of freedom (DOF) and enhanced fidelity that to date have not been fully utilized. Previous robotic efforts in spine biomechanics have largely been limited to pure displacement control methods and slow quasi-static hybrid control approaches incorporating only one motion segment unit (MSU). The ability to program and selectively direct single or multibody spinal end loads in real-time would represent a significant step forward in the application of robotic testing methods. The current paper describes the development of a custom programmable robotic testing system and application of a novel force control algorithm. A custom robotic testing system with a single 4 DOF serial manipulator was fabricated and assembled. Feedback via position encoders and a six-axis load sensor were established to develop, program, and evaluate control capabilities. A calibration correction scheme was employed to account for changes in load sensor orientation and determination of spinal loads. A real-time force control algorithm was implemented that employed a real-time trajectory path modification feature of the controller. Pilot tests applied 3 Nm pure bending moments to a human cadaveric C2-T1 specimen in flexion and extension to assess the ability to control spinal end loads, and to compare the resulting motion response to previously published data. Stable accurate position control was achieved to within ±2 times the encoder resolution for each axis. Stable control of spinal end body forces was maintained to within a maximum error of 6.3N in flexion. Sagittal flexibility data recorded from rostral and caudally placed six-axis load sensors were in good agreement, indicating a pure moment loading condition. Individual MSU rotations were consistent with previously reported data from nonrobotic protocols. The force control algorithm required 5-10 path iterations before converging to programmed end body forces within a targeted tolerance. Commercially available components were integrated to create a fully programmable custom 4 DOF gantry robot. Individual actuator performance was assessed. A real-time force control algorithm based on trajectory path modification was developed and implemented. Within a reasonable number of programmed path iterations, good control of spinal end body forces and moments, as well as a motion response consistent with previous reported data, were obtained throughout a full physiologic flexion-extension range of motion in the human subaxial cervical spine.
机译：与传统方法相比，机器人测试具有潜在的优势，包括对多个自由度（DOF）的协调控制以及迄今为止尚未得到充分利用的增强保真度。先前在脊柱生物力学中的机器人努力主要限于纯位移控制方法和仅包含一个运动段单元（MSU）的慢速准静态混合控制方法。实时编程和有选择地引导单人或多人脊柱末端负荷的能力将代表机器人测试方法的应用迈出了重要的一步。本论文描述了定制可编程机器人测试系统的开发以及新型力控制算法的应用。装配了具有单个4 DOF串行操纵器的定制机器人测试系统。建立了通过位置编码器和六轴负载传感器的反馈，以开发，编程和评估控制功能。采用校准校正方案来说明负荷传感器方向的变化和脊柱负荷的确定。实现了实时力控制算法，该算法采用了控制器的实时轨迹路径修改功能。试验测试将3 Nm的纯弯矩施加到人体尸体C2-T1试样的屈曲和伸展状态，以评估控制脊柱末端载荷的能力，并将所产生的运动响应与以前发表的数据进行比较。实现了稳定的精确位置控制，使每个轴的编码器分辨率达到±2倍以内。脊柱末端体力的稳定控制保持在屈曲的最大误差在6.3N以内。从顶部和尾部放置的六轴载荷传感器记录的矢状挠度数据吻合良好，表明存在纯力矩载荷条件。各个MSU轮换与先前从非机器人协议中报告的数据一致。力控制算法需要5到10次路径迭代，然后才能收敛到目标公差范围内的已编程末端主体力。集成了市售组件，以创建完全可编程的定制4 DOF龙门机器人。评估了各个执行器的性能。开发并实现了基于轨迹路径修正的实时力控制算法。在合理数量的程序化路径迭代中，在整个人体亚轴颈椎的完整生理屈伸范围内的运动中，都获得了对脊椎末端主体力和力矩的良好控制以及与先前报道的数据一致的运动响应。

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