Reproduction of the in vivo motions of joints has become possible with improvements in robot technology and in vivo measuring techniques. A motion analysis system has been used to measure the motions of the tibia and femur of the ovine stifle joint during normal gait. These in vivo motions are then reproduced with a parallel robot. To ensure that the motion of the joint is accurately reproduced and that the resulting data are reliable, the testing frame, the data acquisition system, and the effects of limitations of the testing platform need to be considered. Of the latter, the stiffness of the robot and the ability of the control system to process sequential points on the path of motion in a timely fashion for repeatable path accuracy are of particular importance. Use of the system developed will lead to a better understanding of the mechanical environment of joints and ligaments in vivo.
Skip Nav Destination
e-mail: joshrosvold@gmail.com
e-mail: shon.darcy@gmail.com
e-mail: yvijayar@ucalgary.ca
e-mail: corrd@rpi.edu
e-mail: marchuk@ucalgary.ca
e-mail: cfrank@ucalgary.ca
e-mail: ngshrive@ucalgary.ca
Article navigation
May 2011
Technical Briefs
Technical Issues in Using Robots to Reproduce Joint Specific Gait
J. M. Rosvold,
J. M. Rosvold
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
S. P. Darcy,
S. P. Darcy
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
R. C. Peterson,
R. C. Peterson
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
Y. Achari,
Y. Achari
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
D. T. Corr,
D. T. Corr
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
L. L. Marchuk,
L. L. Marchuk
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
C. B. Frank,
C. B. Frank
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
N. G. Shrive,
N. G. Shrive
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
Joshua M. Rosvold,
Joshua M. Rosvold
Department of Civil Engineering, Schulich School of Engineering,
e-mail: joshrosvold@gmail.com
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
Shon P. Darcy,
Shon P. Darcy
Research Scientist
Technical Solutions Group,
e-mail: shon.darcy@gmail.com
QinetiQ North America
, 350 Second Avenue, Waltham, MA 02451; Project Engineer at Foster-Miller, Inc.
, 350 Second Avenue, Waltham, MA 02451
Search for other works by this author on:
Robert C. Peterson,
Robert C. Peterson
Chief Software Engineer
Search for other works by this author on:
Yamini Achari,
Yamini Achari
Research Associate
Department of Surgery,
e-mail: yvijayar@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
David T. Corr,
David T. Corr
Assistant Professor
Department of Biomedical Engineering,
e-mail: corrd@rpi.edu
Rensselaer Polytechnic Institute
, 110 8th Street, Troy, NY 12180-3590
Search for other works by this author on:
Linda L. Marchuk,
Linda L. Marchuk
Research Associate
Department of Surgery,
e-mail: marchuk@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
Cyril B. Frank,
Cyril B. Frank
Professor
Department of Surgery,
e-mail: cfrank@ucalgary.ca
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
Nigel G. Shrive
Nigel G. Shrive
Professor
Department of Civil Engineering, Schulich School of Engineering,
e-mail: ngshrive@ucalgary.ca
University of Calgary
, c/o McCaig Institute for Bone and Joint Health 3330, Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Search for other works by this author on:
J. M. Rosvold
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
S. P. Darcy
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
R. C. Peterson
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Y. Achari
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
D. T. Corr
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
L. L. Marchuk
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
C. B. Frank
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
N. G. Shrive
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canada
Joshua M. Rosvold
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadae-mail: joshrosvold@gmail.com
Shon P. Darcy
Research Scientist
Technical Solutions Group,
QinetiQ North America
, 350 Second Avenue, Waltham, MA 02451; Project Engineer at Foster-Miller, Inc.
, 350 Second Avenue, Waltham, MA 02451e-mail: shon.darcy@gmail.com
Robert C. Peterson
Chief Software Engineer
Yamini Achari
Research Associate
Department of Surgery,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadae-mail: yvijayar@ucalgary.ca
David T. Corr
Assistant Professor
Department of Biomedical Engineering,
Rensselaer Polytechnic Institute
, 110 8th Street, Troy, NY 12180-3590e-mail: corrd@rpi.edu
Linda L. Marchuk
Research Associate
Department of Surgery,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadae-mail: marchuk@ucalgary.ca
Cyril B. Frank
Professor
Department of Surgery,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health, 3330 Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadae-mail: cfrank@ucalgary.ca
Nigel G. Shrive
Professor
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o McCaig Institute for Bone and Joint Health 3330, Hospital Drive Northwest, Calgary, AB, T2N 4N1, Canadae-mail: ngshrive@ucalgary.ca
J Biomech Eng. May 2011, 133(5): 054501 (4 pages)
Published Online: May 17, 2011
Article history
Received:
October 20, 2009
Revised:
January 28, 2010
Posted:
February 16, 2011
Published:
May 17, 2011
Online:
May 17, 2011
Citation
Rosvold, J. M., Darcy, S. P., Peterson, R. C., Achari, Y., Corr, D. T., Marchuk, L. L., Frank, C. B., Shrive, N. G., Rosvold, J. M., Darcy, S. P., Peterson, R. C., Achari, Y., Corr, D. T., Marchuk, L. L., Frank, C. B., and Shrive, N. G. (May 17, 2011). "Technical Issues in Using Robots to Reproduce Joint Specific Gait." ASME. J Biomech Eng. May 2011; 133(5): 054501. https://doi.org/10.1115/1.4003665
Download citation file:
Get Email Alerts
Related Articles
A Robotic Cadaveric Flatfoot Analysis of Stance Phase
J Biomech Eng (May,2011)
Comparative Assessment of Bone Pose Estimation Using Point Cluster Technique and OpenSim
J Biomech Eng (November,2011)
Human Joint Simulation Using LifeMOD Co-Simulation
J. Med. Devices (June,2008)
New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments
J. Mech. Des (February,2011)
Related Proceedings Papers
Related Chapters
Gesture Based Computing via Gesture Humanoid
International Conference on Computer and Automation Engineering, 4th (ICCAE 2012)
Accuracy of an Axis
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Investigation of Some Problems In Developing Standards for Precracked Charpy Slow Bend Tests
Developments in Fracture Mechanics Test Methods Standardization