Mathematical models of passive motion at the human ankle joint by equivalent spatial parallel mechanisms

2007 ◽  
Vol 45 (3) ◽  
pp. 305-313 ◽  
Author(s):  
R. Di Gregorio ◽  
V. Parenti-Castelli ◽  
J. J. O’Connor ◽  
A. Leardini
Keyword(s):  
Mathematical Models ◽  
Ankle Joint ◽  
Parallel Mechanisms ◽  
Passive Motion ◽  
Human Ankle

A 5-5 One-Degree-of-Freedom Fully Parallel Mechanism for the Modeling of Passive Motion at the Human Ankle Joint

2007 ◽  
Author(s):  
R. Franci ◽  
V. Parenti-Castelli
Keyword(s):  
Ankle Joint ◽  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Anatomical Structures ◽  
Passive Motion ◽  
Three Sphere ◽  
Contact Points ◽  
Human Ankle ◽  
Sphere Contact ◽  
Ankle Complex

This paper presents a new equivalent spatial mechanism for the passive motion simulation at the human ankle complex joint. The mechanism is based on the geometry of the main anatomical structures of the ankle complex, such as the shape of the talus and tibio/fibula bones at their interface, and the TiCal and CaFil ligament lengths. In particular, three sphere-to-sphere contact points at the interface have been identified and isometric fibers of both TiCal and CaFil ligaments have been considered to devise the equivalent mechanism. The proposed mechanism is a fully-parallel mechanism of type 5-5 with one degree of freedom. A procedure for the optimal synthesis of the mechanism is given. Simulation results compared with experimental data show the efficiency of the proposed mechanism to replicate the ankle passive motion, and also to reflect at the same time the main anatomical structures of the ankle joint. The new mechanism is believed to be a useful tool for both pre-operation planning and prosthesis design.

Equivalent Spatial Parallel Mechanisms for the Modelling of the Ankle Passive Motion

2004 ◽  
Author(s):  
R. Di Gregorio ◽  
V. Parenti-Castelli ◽  
J. J. O’Connor ◽  
A. Leardini
Keyword(s):  
Ligament Reconstruction ◽  
Clinical Evidence ◽  
Parallel Mechanisms ◽  
Passive Motion ◽  
Spatial Mechanisms ◽  
Articular Surfaces ◽  
Human Ankle ◽  
Kinematic Modelling ◽  
Simulation Results ◽  
Human Joint

The human ankle anatomical complex comprises the ankle and subtalar joints. The ankle represents the tibiotalar joint, connecting the tibia above, the fibula laterally and the talus below. Modelling of human joint passive motion is of great clinical relevance both for ligament reconstruction and for prosthesis design. The use of (equivalent) planar and spatial mechanisms for the kinematic modelling of joint passive motion proved to be a promising approach as it has been successfully utilized for the knee joint recently. Clinical evidence and experimental measurements led to infer that the relative passive motion between the tibia and the talus is a complex but single repeatable path constrained by articular surfaces and ligaments. The relative motion has the feature of a one degree of freedom rigid body guidance motion. Based on these considerations this paper presents two different equivalent spatial parallel mechanisms for this modelling. The mechanism links are taken from bones, ligaments and tendon structures, while kinematic pairs are appropriately chosen according to the corresponding type of anatomical connections. Simulation results are compared with corresponding experiments ones confirming the potential of the proposed approach.

One-degree-of-freedom spherical model for the passive motion of the human ankle joint

2014 ◽  
Vol 52 (4) ◽  
pp. 363-373 ◽  
Author(s):  
Nicola Sancisi ◽  
Benedetta Baldisserri ◽  
Vincenzo Parenti-Castelli ◽  
Claudio Belvedere ◽  
Alberto Leardini
Keyword(s):  
Ankle Joint ◽  
Spherical Model ◽  
Degree Of Freedom ◽  
Passive Motion ◽  
Human Ankle

Analysis of passive motion characteristics of the ankle joint complex using dual Euler angle parameters

2004 ◽  
Vol 19 (2) ◽  
pp. 153-160 ◽  
Author(s):  
Ning Ying ◽  
Wangdo Kim ◽  
Yueshuen Wong ◽  
Boon H. Kam
Keyword(s):  
Ankle Joint ◽  
Euler Angle ◽  
Passive Motion ◽  
Motion Characteristics

The Role of the Passive Structures in the Mobility and Stability of the Human Ankle Joint: A Literature Review

2000 ◽  
Vol 21 (7) ◽  
pp. 602-615 ◽  
Author(s):  
Alberto Leardini ◽  
John J. O'Connor ◽  
Fabio Catani ◽  
Sandro Giannini
Keyword(s):  
Literature Review ◽  
Ankle Joint ◽  
Human Ankle
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