Interactive graphical animation of human knee joint movements

Pröll, Thomas; Riener, Robert; Burgkart, Rainer

doi:10.1016/s0531-5131(03)00454-0

International Congress Series

2003

DOI: 10.1016/s0531-5131(03)00454-0

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Interactive graphical animation of human knee joint movements

Thomas Pröll

Robert Riener

Rainer Burgkart

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2006

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“…Additionally, the graphical display visualizes the movements of the bones and the deformation of the menisci and ligaments. It provides a visualization of the inside of the knee joint enabling a greater understanding of the functionality of the joint (Pröll, Burgkart, & Riener, 2003). The acoustic display presents joint sounds and patient voice in order to give feedback about the pain that occurs during the joint examination.…”

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confidence: 99%

Physical Interaction with a Virtual Knee Joint—The 9 DOF Haptic Display of the Munich Knee Joint Simulator

Frey

Hoogen

Burgkart

et al. 2006

Presence: Teleoperators and Virtual Environments

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In specific fields, medical education at many universities is rather theoretical and the amount of practical training is limited. A significant improvement can be achieved using virtual reality training stations with lifelike visual, acoustic, tactile, and kinesthetic feedback. Particularly, when simulating procedures that require direct contact with the patient body, a realistic haptic simulation addressing tactile and kinesthetic senses can be essential for the acceptance of virtual simulation stations. A purely passive phantom may provide realistic haptic feedback, but its properties cannot be changed over time.This paper presents the haptic display of the Munich Knee Joint Simulator, which was developed to improve training and education of physical knee joint examinations. The haptic interface comprises a combination of passive phantom segments providing realistic tactile sensations, and strong actuators generating highly dynamic kinesthetic force feedback. A 3 degree of freedom (DOF) manipulator was developed in this study to drive the thigh prosthesis and one 6 DOF industrial robot was used to actuate the shank prosthesis. Both manipulators are driven by hybrid admittance-impedance controllers capable of simulating the complex dynamics of the thigh and the shank. Both actuators are equipped with a 6 DOF force torque sensor and they are virtually coupled by an analytical knee joint model. The proposed setup is capable of simulating a mechanical stiffness as high as 80 kN/m in the translatory DOF and simultaneously allows free motion in the rotatory DOF. Experimental tests of the simulator with orthopedic physicians proved the usability of the proposed concept.

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confidence: 99%

Physical Interaction with a Virtual Knee Joint—The 9 DOF Haptic Display of the Munich Knee Joint Simulator

Frey

Hoogen

Burgkart

et al. 2006

Presence: Teleoperators and Virtual Environments

View full text Add to dashboard Cite

show abstract

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Interactive graphical animation of human knee joint movements

Cited by 1 publication

References 4 publications

Physical Interaction with a Virtual Knee Joint—The 9 DOF Haptic Display of the Munich Knee Joint Simulator

Physical Interaction with a Virtual Knee Joint—The 9 DOF Haptic Display of the Munich Knee Joint Simulator

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