Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing system.

Journal: Biomedical engineering online
Published Date: Jun 7, 2016

Abstract

BACKGROUND: Robot-based joint-testing systems (RJTS) can be used to perform unconstrained laxity tests, measuring the stiffness of a degree of freedom (DOF) of the joint at a fixed flexion angle while allowing the other DOFs unconstrained movement. Previous studies using the force-position hybrid (FPH) control method proposed by Fujie et al. (J Biomech Eng 115(3):211-7, 1993) focused on anterior/posterior tests. Its convergence and applicability on other clinically relevant DOFs such as valgus/varus have not been demonstrated. The current s1tudy aimed to develop a 6-DOF RJTS using an industrial robot, to propose two new force-position hybrid control methods, and to evaluate the performance of the methods and FPH in controlling the RJTS for anterior/posterior and valgus/varus laxity tests of the knee joint.

Authors

  • Hong-Jung Hsieh
    Institute of Biomedical Engineering, National Taiwan University, Taiwan, ROC; Department of Mechanics Engineering, Kao Yuan University, Taiwan, ROC.
  • Chih-Chung Hu
    Institute of Biomedical Engineering, National Taiwan University, No. 1, Sec. 1, Jen-Ai Road, Taipei, 100, Taiwan, R.O.C.
  • Tung-Wu Lu
    Institute of Biomedical Engineering, National Taiwan University, Taiwan, ROC; Department of Orthopaedic Surgery, School of Medicine, National Taiwan University, Taiwan, ROC. Electronic address: twlu@ntu.edu.tw.
  • Hsuan-Lun Lu
    Institute of Biomedical Engineering, National Taiwan University, Taiwan, ROC.
  • Mei-Ying Kuo
    Department of Physical Therapy, China Medical University, Taichung, Taiwan.
  • Chien-Chung Kuo
    Department of Orthopaedics, China Medical University Hospital, Taichung, Taiwan.
  • Horng-Chaung Hsu
    Department of Orthopaedics, China Medical University Hospital, Taichung, Taiwan.

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