Design and Validation of a General Purpose Robotic Testing System for Musculoskeletal Applications

Noble, Larry; Colbrunn, Robb; Lee, Dong Seok; Bogert, Antonie J. van den; Davis, Brian L.

doi:10.1115/1.4000851

Cited by 53 publications

(55 citation statements)

References 20 publications

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“…Further biomechanical studies are needed to more definitively assess the remplissage procedure. Employing advanced techniques such as in vivo kinematic tracking 39 , robotic devices 40,41 and finite element analysis 42 may be useful. Specifically, in vivo studies would provide better direct evidence regarding the advantages and adverse effects of surgical procedures.…”

Section: Discussionmentioning

confidence: 99%

The Effect of the Remplissage Procedure on Shoulder Stability and Range of Motion

Elkinson

Giles

Faber

et al. 2012

Journal of Bone and Joint Surgery

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Section: Discussionmentioning

confidence: 99%

The Effect of the Remplissage Procedure on Shoulder Stability and Range of Motion

Elkinson

Giles

Faber

et al. 2012

Journal of Bone and Joint Surgery

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“…Since the first publication on in vitro gait simulation [1], each group has focused on improving several aspects of the existing approaches, being mainly the limited degrees of freedom of the mechanism controlling the kinematics of the tibia, the low gait speed, the limited forces applied to the tendons and the limited ground reaction force magnitudes. In the most recent simulators most of these targeted improvements were achieved [6,7], thereby improving the validity of simulation results and their relevance for clinical practice. However, some drawbacks remain.…”

Section: Introductionmentioning

confidence: 99%

“…the forces applied to the tendons, ground reaction forces and tibial kinematics. Therefore, in vitro experimentation still relies to a large extent on arbitrary and manual tuning of the control 6 inputs, and observer-dependent evaluation of the simulation results. This inevitably undermines standardization of the simulation procedure and potentially limits the reproducibility of the simulator performance over different specimens.…”

Section: Introductionmentioning

confidence: 99%

“…In order to investigate foot function under dynamic conditions representative for gait, several groups have developed a set-up for dynamic in vitro gait simulation using cadaveric feet [1,[3][4][5][6][7], all applying forces to the tendons and controlling tibial kinematics, in some cases supplemented with ground reaction forces. Since the first publication on in vitro gait simulation [1], each group has focused on improving several aspects of the existing approaches, being mainly the limited degrees of freedom of the mechanism controlling the kinematics of the tibia, the low gait speed, the limited forces applied to the tendons and the limited ground reaction force magnitudes.…”

Section: Introductionmentioning

confidence: 99%

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An in vitro approach to the evaluation of foot-ankle kinematics: Performance evaluation of a custom-built gait simulator

Peeters

Natsakis

Burg

et al. 2013

Proc Inst Mech Eng H

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Despite their well known limitations, in vitro experiments have several benefits over in vivo techniques when exploring foot biomechanics under conditions characteristic for gait.In this study, we present a new set-up for dynamic in vitro gait simulation that integrates a numerical model for generating the tibial kinematics control input and we present an innovative methodology to measure full 3D joint kinematics during gait simulations. The gait simulator applies forces to the tendons. Tibial kinematics in the sagittal plane is controlled using a numerical model that takes into account foot morphology. The methodology is validated by comparing joint rotations measured during gait simulation with those measured in vivo. In addition, reliability and accuracy of the control system as well as simulation input and output repeatability are quantified. The results reflect good control performance and repeatability of the control inputs, vertical ground reaction force, center of pressure displacement and joint rotations and translations. In addition, there is a good correspondence to in vivo kinematics for most patterns of motion at the ankle, subtalar and Chopart's joints. Therefore, these results show the relevance and validity of including specimen-specific information for defining the control inputs.

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“…In addition the GRF that the prosthetic device produces is a result of its overall dynamic performance and matching the GRF resulting from the leg prosthesis to the GRF of that produced by an able body dose not seem to be a reasonable method to test the prosthesis. Noble et al [4] have taken a similar approach and used iterative optimization to adjust the joint motion trajectory profiles to eliminate offsets between the actual and target load responses.…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Optimization of Impedance Parameters in a Prosthesis Test Robot

Khalaf

Richter

Bogert

et al. 2015

Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Re

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We design a control system for a prosthesis test robot that was previously developed for transfemoral prosthesis design and test. The robot's control system aims to mimic human walking in the sagittal plane. It has been seen in previous work that trajectory control fails to produce human-like forces. Therefore, we utilize an impedance controller to achieve reasonable tracking of motion and force simultaneously. However, these objectives conflict. Impedance control design can therefore be viewed as a multi-objective optimization problem. We use an evolutionary multi-objective strategy called Multi-Objective Invasive Weed Optimization (MOIWO) to design the impedance controller. The multi-objective optimization problem admits a set of equally valid alternative solutions known as the Pareto optimal set. We use a pseudo weight vector approach to select a single solution from the Pareto optimal set. Simulation results show that a solution that is selected for pure motion tracking performs very accurate motion tracking (RMS error of 0.06 cm) but fails to produce the desired forces (RMS error of 70% peak load). On the other hand, a solution that is selected for pure force tracking successfully tracks the desired force (RMS error * Research supported by NSF Grant 1344954. of 12.7% peak load) at the expense of motion trajectory errors (RMS error of 4.5 cm). INTRODUCTIONIn recent years the development of prosthetic devices has progressed rapidly. However a major problem of designing prostheses is the ability to test newly developed devices in normal and hazardous test conditions on human subjects. Problems such as informed consent, safety harnesses and the lack of repeatability across tests, hinder the design and testing process of prosthetic devices. Robotic test devices can overcome these problems and also provide additional benefits such as operating continuously for long periods of time and working in conditions that are unsafe for patients [1]. In the last few years a robotic test platform has been developed and used for the purpose of transfemoral prosthesis design and testing [2]. The test robot developed aims to mimic human walking in the sagittal plane by simulating the hips vertical and the thighs angular motions. However the main challenge of using a robotic platform for the design and development of prostheses is designing a control system that can imitate the behavior of a human subjects. Currently the control

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Design and Validation of a General Purpose Robotic Testing System for Musculoskeletal Applications

Abstract: Orthopaedic research on in vitro forces applied to bones, tendons, and ligaments during joint loading has been difficult to perform because of limitations with existing robotic simulators in applying

Cited by 53 publications

References 20 publications

The Effect of the Remplissage Procedure on Shoulder Stability and Range of Motion

The Effect of the Remplissage Procedure on Shoulder Stability and Range of Motion

An in vitro approach to the evaluation of foot-ankle kinematics: Performance evaluation of a custom-built gait simulator

Multi-Objective Optimization of Impedance Parameters in a Prosthesis Test Robot

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