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Static and Dynamic Properties of a 6-DOF Robotic System for Knee Joint Biomechanics Study

[+] Author Affiliations
Hiromichi Fujie

Tokyo Metropolitan University, Tokyo, JapanKogakuin University, Tokyo, Japan

Kei Kimura, Satoshi Yamakawa

Tokyo Metropolitan University, Tokyo, Japan

Paper No. SBC2013-14849, pp. V01BT23A012; 2 pages
  • ASME 2013 Summer Bioengineering Conference
  • Volume 1B: Extremity; Fluid Mechanics; Gait; Growth, Remodeling, and Repair; Heart Valves; Injury Biomechanics; Mechanotransduction and Sub-Cellular Biophysics; MultiScale Biotransport; Muscle, Tendon and Ligament; Musculoskeletal Devices; Multiscale Mechanics; Thermal Medicine; Ocular Biomechanics; Pediatric Hemodynamics; Pericellular Phenomena; Tissue Mechanics; Biotransport Design and Devices; Spine; Stent Device Hemodynamics; Vascular Solid Mechanics; Student Paper and Design Competitions
  • Sunriver, Oregon, USA, June 26–29, 2013
  • Conference Sponsors: Bioengineering Division
  • ISBN: 978-0-7918-5561-4
  • Copyright © 2013 by ASME


The application of robotic technology to the field of joint biomechaics has started more than 20 years ago1). Since then, a variety of studies have employed commercially available articulated manipulators for the joint biomechanical studies1–5). However, such articulated manipulators are generally poor at stiffness and precision although they were basically designed to achieve high speeds of motion while performing tasks in a large work space. To solve the problem, we have previously developed a robotic system consisting of a custom-made 6-degree of freedom (6-DOF) manipulator and a universal force-moment sensor (UFS)6). The present study was aimed to evaluate the static and dynamic properties of the system.

Copyright © 2013 by ASME
Topics: Biomechanics , Robotics , Knee



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