scholarly journals Differences in tibiofemoral kinematics between the unloaded robotic passive path and a weightbearing knee simulator

2012 ◽  
Vol 3 (2) ◽  
pp. 2 ◽  
Author(s):  
Markus Wünschel ◽  
Ulf Leichtle ◽  
JiaHsuan Lo ◽  
Nikolaus Wülker ◽  
Otto Müller
Keyword(s):  
Knee Joint ◽  
Degrees Of Freedom ◽  
Weight Bearing ◽  
Reaction Force ◽  
Joint Kinematics ◽  
Vertical Ground Reaction Force ◽  
Knee Simulator ◽  
6 Degrees Of Freedom ◽  
Tibiofemoral Kinematics

Cadaveric <em>in vitro</em> studies are essential to test hypotheses concerning surgical manipulations in the same individual. Robotic technologies as well as different knee-models have been developed to get an in-depth comprehension of knee joint kinematics. The purpose of this study was to compare utilization of these different established principles. Ten human cadaveric knee specimens were used to measure the kinematics during a weight-bearing flexion in a 6-degrees-of-freedom knee simulator. While flexing the knee, joint quadriceps muscle forces were dynamically simulated to reach a vertical ground reaction force of 100N. Fourteen knee specimens were mounted in 6-degrees-of-freedom robotic manipulator with a universal force sensor. The unloaded flexing motion of each specimen was measured by finding positions for each degree of flexion where all forces are minimal (passive path). The kinematic data of the kneesimulator and the robot concerning <em>internal-external</em> rotation, <em>anterior-posterior</em> translation, <em>varus-valgus</em> motion, and <em>medial-lateral </em>translation was examined. For all investigated degrees of freedom the kinematics of the robotic passive path differed from the loaded kinematics in the knee simulator. Simulated bodyweight as well as the examination method used has a substantial influence on joint kinematics during flexion which has to be considered when interpreting biomechanical studies as well as clinical tests.

scholarly journals Material Characterization of Hardening Soft Sponge Featuring MR Fluid and Application of 6-DOF MR Haptic Master for Robot-Assisted Surgery

Materials ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 1268 ◽  
Author(s):  
Jong-Seok Oh ◽  
Jung Sohn ◽  
Seung-Bok Choi
Keyword(s):  
Viscoelastic Property ◽  
Material Characterization ◽  
Degrees Of Freedom ◽  
Reaction Force ◽  
Robot Assisted ◽  
Magneto Rheological ◽  
6 Degrees Of Freedom ◽  
Force Characteristics ◽  
Robot Assisted Surgery

In this work, the material characterization of hardening magneto-rheological (MR) sponge is analyzed and a robot-assisted surgery system integrated with a 6-degrees-of-freedom (DOF) haptic master and slave root is constructed. As a first step, the viscoelastic property of MR sponge is experimentally analyzed. Based on the viscoelastic property and controllability, a MR sponge which can mimic the several reaction force characteristics of human-like organs is devised and manufactured. Secondly, a slave robot corresponding to the degree of the haptic master is manufactured and integrated with the master. In order to manipulate the robot motion by the master, the kinematic analysis of the master and slave robots is performed. Subsequently, a simple robot cutting surgery system which is manipulated by the haptic master and MR sponge is established. It is then demonstrated from this system that using both MR devices can provide more accurate cutting surgery than the case using the haptic master only.

Implementation of a Five Degree of Freedom Automated System to Determine Knee Flexibility In Vitro

1990 ◽  
Vol 112 (4) ◽  
pp. 392-400 ◽  
Author(s):  
G. S. Berns ◽  
M. L. Hull ◽  
H. A. Patterson
Keyword(s):  
Degrees Of Freedom ◽  
Feedback Loop ◽  
Weight Bearing ◽  
Automated System ◽  
External Torque ◽  
Digitally Controlled ◽  
Definition Of ◽  
Anterior Posterior

This article describes an automated system designed to study the complete flexibility functions of the knee in vitro. The system allows five degrees of freedom with flexion angle being fixed, though adjustable from 0 to 45 deg. Loads corresponding to each of the five motions can be applied independently and in any combination. The effect of weight bearing on knee flexibility can also be studied by including axial force as one of the five loads. The relative motions are measured with LVDT’s and RVDT’s, and the loads are measured with strain gage transducers. The system is digitally controlled with a closed feedback loop, allowing for any combination of programmed loads. A control algorithm on an IBM PC/AT monitors the loads on each axis and continuously adjusts stepping motors to correctly follow programmed loads. The machine coordinate system corresponds to clinically accepted definitions of motion yet retains sequence independence for rotations. Results are presented demonstrating the repeatability of using a functional definition of axis placement to align the leg within the machine. Results are also presented demonstrating the utility of the full flexibility functions of the knee, notably in the determination of significant load interactions between anterior/posterior force and internal/external torque, and varus/valgus torque and internal/external torque.

A Femoral Clamp to Reduce Soft Tissue Artifact: Accuracy and Reliability in Measuring Three-Dimensional Knee Kinematics During Gait

2019 ◽  
Vol 142 (4) ◽  
Author(s):  
Ziyun Ding ◽  
Manuela Güdel ◽  
Samuel H. L. Smith ◽  
Richard A. Ademefun ◽  
Anthony M. J. Bull
Keyword(s):  
Soft Tissue ◽  
Knee Joint ◽  
Degrees Of Freedom ◽  
Intraclass Correlation ◽  
Joint Kinematics ◽  
Cluster Method ◽  
Coefficient Of Determination ◽  
Knee Joint Kinematics ◽  
Soft Tissue Artifact ◽  
Rigid Cluster

Abstract The accurate measurement of full six degrees-of-freedom (6DOFs) knee joint kinematics is prohibited by soft tissue artifact (STA), which remains the greatest source of error. The purpose of this study was to present and assess a new femoral clamp to reduce STA at the thigh. It was hypothesized that the device can preserve the natural knee joint kinematics pattern and outperform a conventional marker mounted rigid cluster during gait. Six healthy subjects were asked to walk barefoot on level ground with a cluster marker set (cluster gait) followed by a cluster-clamp-merged marker set (clamp gait) and their kinematics was measured using the cluster method in cluster gait and the cluster and clamp methods simultaneously in clamp gait. Two operators performed the gait measurement. A 6DOFs knee joint model was developed to enable comparison with the gold standard knee joint kinematics measured using a dual fluoroscopic imaging technique. One-dimensional (1D) paired t-tests were used to compare the knee joint kinematics waveforms between cluster gait and clamp gait. The accuracy was assessed in terms of the root-mean-square error (RMSE), coefficient of determination, and Bland–Altman plots. Interoperator reliability was assessed using the intraclass correlation coefficient (ICC). The result showed that the femoral clamp did not change the walking speed and knee joint kinematics waveforms. Additionally, clamp gait reduced the rotation and translation errors in the transverse plane and improved the interoperator reliability when compared to the rigid cluster method, suggesting a more accurate and reliable measurement of knee joint kinematics.

scholarly journals Online sonification improves cycling performance through kinematic and muscular reorganisations

2020 ◽  
Vol 10 (1) ◽  
Author(s):  
Benjamin O’Brien ◽  
Romain Hardouin ◽  
Guillaume Rao ◽  
Denis Bertin ◽  
Christophe Bourdin
Keyword(s):  
Knee Joint ◽  
Real Time ◽  
Degrees Of Freedom ◽  
Ventilatory Threshold ◽  
Cycling Performance ◽  
Joint Kinematics ◽  
Auditory Display ◽  
Beneficial Effects ◽  
Silent Condition

AbstractBased on a previous study that demonstrated the beneficial effects of sonification on cycling performance, this study investigated which kinematic and muscular activities were changed to pedal effectively. An online error-based sonification strategy was developed, such that, when negative torque was applied to the pedal, a squeak sound was produced in real-time in the corresponding headphone. Participants completed four 6-min cycling trials with resistance values associated with their first ventilatory threshold. Different auditory display conditions were used for each trial (Silent, Right, Left, Stereo), where sonification was only presented for 20 s at the start of minutes 1, 2, 3, and 4. Joint kinematics and right leg muscular activities of 10 muscles were simultaneously recorded. Our results showed participants were more effective at pedalling when presented sonification, which was consistent with previously reported findings. In comparison to the Silent condition, sonification significantly limited ankle and knee joint ranges of motion and reduced muscular activations. These findings suggest performance-based sonification significantly affected participants to reduce the complexity of the task by altering the coordination of the degrees of freedom. By making these significant changes to their patterns, participants improved their cycling performance despite lowering joint ranges of motion and muscular activations.

The Application of Roentgenstereophotogrammetry for Evaluation of Knee-Joint Kinematics in Vitro

1982 ◽  
pp. 177-184 ◽  
Author(s):  
A. de Lange ◽  
R. van Dijk ◽  
R. Huiskes ◽  
G. Selvik ◽  
Th. J. G. van Rens
Keyword(s):  
Knee Joint ◽  
Joint Kinematics ◽  
Knee Joint Kinematics

The association between external-ground-reaction force and knee-joint kinetics during partial- and full-weight-bearing gait

2010 ◽  
Vol 25 (4) ◽  
pp. 359-364 ◽  
Author(s):  
Jay R. Ebert ◽  
David G. Lloyd ◽  
Anne Smith ◽  
Timothy Ackland ◽  
David J. Wood
Keyword(s):  
Knee Joint ◽  
Ground Reaction Force ◽  
Weight Bearing ◽  
Reaction Force ◽  
Full Weight Bearing ◽  
Joint Kinetics

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

1993 ◽  
Vol 115 (3) ◽  
pp. 211-217 ◽  
Author(s):  
Hiromichi Fujie ◽  
Kiyoshi Mabuchi ◽  
Savio L.-Y. Woo ◽  
Glen A. Livesay ◽  
Shinji Arai ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Complex Loading ◽  
Joint Kinematics ◽  
Loading Conditions ◽  
Joint Force ◽  
Physiological Loading ◽  
Control Forces ◽  
6 Degrees Of Freedom ◽  
Human Joint ◽  
Anterior Posterior

Robotics technologies have been modified to control and measure both the force and position of synovial joints for the study of joint kinematics. One such system was developed to perform kinematic testing of a human joint. A 6-axis articulated robotic manipulator with 6 degrees of freedom (DOF) of motion was designed and constructed; a mathematical description for joint force and position was devised; and hardware and software to control forces applied to the joint, as well as position of the joint, were developed. The new methodology was utilized to simulate physiological loading conditions and to perform an anterior-posterior (A-P) translation test on a human cadaveric knee. Testing showed that this new system can simulate complex loading conditions and also measure the resulting joint kinematics.

scholarly journals Biomechanical Effects of Flamenco Footwork

2021 ◽  
Vol 80 (1) ◽  
pp. 19-27
Author(s):  
Alfonso Vargas-Macías ◽  
Irene Baena-Chicón ◽  
Joanna Gorwa ◽  
Robert A. Michnik ◽  
Katarzyna Nowakowska-Lipiec ◽  
...  
Keyword(s):  
Knee Joint ◽  
Ground Reaction Force ◽  
Angular Displacement ◽  
Reaction Force ◽  
Force Plate ◽  
Vertical Component ◽  
Camera Motion ◽  
Vertical Ground Reaction Force ◽  
Knee Joint Kinematics ◽  
Basic Features

Abstract Footwork is one of the basic features of flamenco dancing and is performed in traditional high-heeled shoes. The purpose of this study was to analyse the mechanical profile of flamenco dancing in terms of vertical ground reaction force, and knee joint kinematics of the supporting limb in footwork technique in order to understand causes which predispose injuries derived from the practice of flamenco dancing. The participant in our study was a professional female flamenco dancer (34 years, 58 kg, 1.65 m) who performed the ZAP 3 test, a sequence of single strikes of the feet performed continuously for 15 s. 3D lower extremity kinematic data were collected using a five-camera motion analysis system (Vicon; Oxford Metrics Ltd., Oxford, UK). Ground reaction forces were recorded using a Kistler force plate. Our analysis was based on 30 cycles of each lower limb consisting of 177 footwork steps. The vertical component of the ground reaction force did not reveal any significant differences between the left and the right limb. The most dynamic strike was provided by the heel (twice the participant's body weight). The mean angular displacement of the supporting limb’s knee was ~27°. Results reveal that these impacts could make the knee joint more prone to injuries.

Single-Leg Drop Jump Biomechanics After Ankle or Knee Joint Cooling in Healthy Young Adults

2021 ◽  
pp. 1-8
Author(s):  
Jihong Park ◽  
Kyeongtak Song ◽  
Sae Yong Lee
Keyword(s):  
Angular Velocity ◽  
Knee Joint ◽  
Lower Extremity ◽  
Knee Flexion ◽  
Reaction Force ◽  
Drop Jump ◽  
Vertical Ground Reaction Force ◽  
Time To Peak ◽  
Peak Knee ◽  
Vertical Ground

Context: It is unclear if lower-extremity joint cooling alters biomechanics during a functional movement. Objective: To investigate the effects of unilateral lower-extremity cryotherapy on movement alterations during a single-leg drop jump. Design: A crossover design. Setting: Laboratory. Patients: Twenty healthy subjects (10 males and 10 females; 23 y, 169 cm, 66 kg). Intervention(s): Subjects completed a single-leg drop jump before and after a 20-minute ankle or knee joint cooling on the right leg, or control (seated without cooling) on 3 separate days. Main Outcome Measures: Time to peak knee flexion, vertical ground reaction force, lower-extremity joint angular velocity (sagittal plane only), and angle and moment (sagittal and frontal planes) in the involved leg over the entire ground contact (GC; from initial contact to jump-off) during the first landing. Time to peak knee flexion was compared using an analysis of variance; the rest of the outcome measures were analyzed using functional analyses of variance (P < .05). Results: Neither joint cooling condition changed the time to peak knee flexion (F2,95 = 0.73, P = .49). Ankle joint cooling reduced vertical ground reaction force (55 N at 4% of GC), knee joint angular velocity (44°/s during 5%–9% of GC), and knee varus moment (181 N·m during 18%–20% of GC). Knee joint cooling resulted in a reduction in knee joint angular velocity (24°/s during 37%–40% of GC) and hip adduction moment (151 N·m during 46%–48% of GC), and an increase in hip joint angular velocity (16°/s during 49%–53% of GC) and plantarflexion angle (1.5° during 11%–29% of GC). Conclusion: Resuming activity immediately after lower-extremity joint cooling does not seem to predispose an individual to injury during landing because altered mechanics are neither overlapping with the injury time period nor of sufficient magnitude to lead to an injury.

Sign in / Sign up

Export Citation Format

Share Document