The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology

Fujie, Hiromichi; Mabuchi, Kiyoshi; Woo, Savio L‐Y.; Livesay, Glen A.; Arai, Shinji; Tsukamoto, Yukio

doi:10.1115/1.2895477

Cited by 193 publications

(121 citation statements)

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“…However, existing test apparatuses are either designed for a maximum of two independently controlled DOF with high loading rates [23] or six DOF with low loading rates which allow quasi-static flexibility measurements of spinal motion segments [28][29][30][31][32][33][34][35][36][37][38]. Only two dynamic systems with six DOF are known to the authors: a robotic system by Fujie et al [39], later used for spinal segments by Hurschler et al [40] and a hexapod system by Ding et al [41], designed to be suitable for all biomechanical joints and tissues, including spine [42]. The robotic system (KR 16, Kuka Robotik GmbH, Gersthofen, Germany) used by [40] is able to achieve very rapid motion ranging from 156 to 614°/s depending on the axis, while loads are limited to about 160 N. The custom designed hexapod system by Ding et al [41] is capable of very high loads (up to 21 kN and 2.5 kNm).…”

Section: Introductionmentioning

confidence: 99%

A new dynamic six degrees of freedom disc-loading simulator allows to provoke disc damage and herniation

Wilke¹,

Kienle²,

Maile³

et al. 2016

Eur Spine J

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Purpose The cause of disc herniation is not well understood yet. It is assumed that heavy lifting and extreme postures can cause small injuries starting either in the inner anulus or from the outside close to the endplate. Such injuries are accumulated over years until its structure is weakened and finally a single loading event leads to a sudden failure of the last few intact lamellae. This paper describes a novel, custom-developed dynamic 6-DOF discloading simulator that allows complex loading to provoke such disc damage and herniations. Methods The machine's axes are driven by six independent servomotors providing high loads (10 kN axial compression, 2 kN shear, 100 Nm torque) up to 5 Hz. A positional accuracy test was conducted to validate the machine. Subsequently, initial experiments with lumbar ovine motion segments under complex loading were performed. After testing, the discs were examined in an ultrahigh field MRI (11.7 T). A three-dimensional reconstruction was performed to visualise the internal disc lesions. Results Validation tests demonstrated positioning with an accuracy of B0.08°/B0.026 mm at 0.5 Hz and B0.27°/ B0.048 mm at 3.0 Hz with amplitudes of ±17°/±2 mm. Typical failure patterns and herniations could be provoked with complex asymmetrical loading protocols. Loading with axial compression, flexion, lateral bending and torsion lead in 8 specimens to 4 herniated discs, two protrusions and two delaminations. All disc failures occurred in the posterior region of the disc. Conclusion This new dynamic disc-loading simulator has proven to be able to apply complex motion combinations and allows to create artificial lesions in the disc with complex loading protocols. The aim of further tests is to better understand the mechanisms by which disc failure occurs at the microstructural level under different loading conditions. Visualisation with ultra-high field MRI at different time points is a promising method to investigate the gradual development of such lesions, which may finally lead to disc failure. These kinds of experiments will help to better investigate the mechanical failure of discs to provide new insights into the initiation of intervertebral disc herniation. This device will also serve for many other applications in spine biomechanics research.

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Section: Introductionmentioning

confidence: 99%

A new dynamic six degrees of freedom disc-loading simulator allows to provoke disc damage and herniation

Wilke¹,

Kienle²,

Maile³

et al. 2016

Eur Spine J

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“…Numerous investigators have used robotically simulated Lachman's tests of pure anterior drawer to quantify ACL mechanics in the same fashion that the current study evaluates rotational perturbations [5]. Furthermore, the present results maintain clinical relevance because each stimuli is tested individually, but also in conjunction with one another, which is more representative of the [17,18]. However, previous investigations have indicated that the average ACL ruptures at 19% ± 10% strain, whereas individually these failures occur between 7% and 36% [32].…”

Section: Discussionmentioning

confidence: 73%

Knee Abduction Affects Greater Magnitude of Change in ACL and MCL Strains Than Matched Internal Tibial Rotation In Vitro

Bates

Nesbitt

Shearn

et al. 2017

Clinical Orthopaedics &Amp; Related Research

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Background Anterior cruciate ligament (ACL) injures incur over USD 2 billion in annual medical costs and prevention has become a topic of interest in biomechanics. However, literature conflicts persist over how knee rotations contribute to ACL strain and ligament injury. To maximize the efficacy of ACL injury prevention, the effects of underlying mechanics need to be better understood. Questions/purposes We applied robotically controlled, in vivo-derived kinematic stimuli to the knee to assess ligament biomechanics in a cadaver model. We asked: (1) Does the application of abduction rotation increase ACL and medial collateral ligament (MCL) strain relative to the normal condition? (2) Does the application of internal tibial rotation impact ACL strain relative to the neutral condition? (3) Does combined abduction and internal tibial rotation increase ligament strain more than either individual contribution?Methods A six-degree-of-freedom robotic manipulator was used to position 17 cadaveric specimens free from knee pathology outside of low-grade osteoarthritis (age, 47 ± 8 years; 13 males, four females) into orientations that mimic initial contact recorded from in vivo male and female drop vertical jump and sidestep cutting activities. Four-degree rotational perturbations were applied in both directions from the neutral alignment position (creating an 8°range) for each frontal, transverse, and combined planes while ACL and MCL strains were continuously recorded with DVRT strain gauges implanted directly on each ligament. Analysis of variance models with least significant difference post hoc analysis were used to assess differences in ligament strain and joint loading between sex, ligament condition, or motion task and rotation type. Results For the female drop vertical jump simulation in the intact knee, isolated abduction and combined abduction/internal rotational stimuli produced the greatest This work was supported by National Institutes of Health/NIAMS Grants #R01-AR049735 (TEH), #R01-AR055563 (TEH), #R01-AR056660 (JTS), and #R01-AR056259 (TEH -017-5367-9 Clinical Orthopaedics and Related Research ® A Publication of The Association of Bone and Joint Surgeons® change in strain from the neutral position as compared with all other stimuli within the ACL (1.5% ± 1.0%, p B 0.035; 1.8% ± 1.3%, p B 0.005) and MCL (1.8% ± 1.0%, p \ 0.001; 1.6% ± 1.3%, p \ 0.001) compared with all other applied stimuli. There were no differences in mean peak ACL strain between any rotational stimuli (largest mean difference = 2.0%; 95% confidence interval [CI], À0.9% to 5.0%; p = 0.070). These trends were consistent for all four simulated tasks. Peak ACL strain in the intact knee was larger than peak MCL strain for all applied rotational stimuli in the drop vertical jump simulations (smallest mean difference = 2.1%; 95% CI, À0.4% to 4.5%; p = 0.047). Conclusions Kinematically constrained cadaveric knee models using peak strain as an outcome variable require greater than 4°rotational perturbations to elicit changes in intraa...

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“…For example, the Oxford rig [27] allows cadaver joints to be loaded by a single actuator to simulate the quadriceps but does not allow dynamic testing. A system by Fujie et al [28] moves a cadaver slowly using a robot arm, taking measurements throughout. The results here show that these simplifications could significantly change the forces acting within the joint.…”

Section: Discussionmentioning

confidence: 99%

Challenges in using compliant ligaments for position estimation within robotic joints

Russell

Gao

Ellison

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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Abstract-The mechanical advantages of bio-inspired condylar robotic knee joints for use in prosthetics or rehabilitation has been argued extensively in literature. A common limitation of these designs is the difficulty of estimating joint angle and therefore accurately controlling the joint. Furthermore, the potential role of ligament-like structures in robotic knees is not very well established. In this work, we investigate the role of compliant stretch sensing ligaments and their integration into a condylar robotic knee. Simulations and experiments are executed out in order to establish whether measurement of stretch in these structures can be used to produce a new feedback controller for joint position. We report results from a computer model, as well as the design and construction of a robotic knee that show, for a chosen condyle shape, ligament stretch is a function of muscle force and joint velocity as well as joint angle. We have developed a genetic algorithm optimised controller incorporating ligament feedback that demonstrates improved performance for a desired joint angle in response to step inputs. The controller showed marginal improvement in response to a cyclic command signal and further investigation is required in order to use these measurements in robust control, nevertheless we believe these results demonstrate the that ligament-like structures have the potential to improve the performance of robotic knees for prosthetics and rehabilitation devices.

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The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology

Cited by 193 publications

References 0 publications

A new dynamic six degrees of freedom disc-loading simulator allows to provoke disc damage and herniation

A new dynamic six degrees of freedom disc-loading simulator allows to provoke disc damage and herniation

Knee Abduction Affects Greater Magnitude of Change in ACL and MCL Strains Than Matched Internal Tibial Rotation In Vitro

Challenges in using compliant ligaments for position estimation within robotic joints

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