ICRA 2011 Paper Abstract


Paper WeA213.1

Becke, Mark (University of Applied Sciences Regensburg), Schlegl, Thomas (University of Applied Sciences Regensburg)

Toward an Experimental Method for Evaluation of Biomechanical Joint Behavior under High Variable Load Conditions

Scheduled for presentation during the Regular Sessions "Medical Robots II" (WeA213), Wednesday, May 11, 2011, 10:05−10:20, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Medical Robots and Systems, Force Control, Force and Tactile Sensing


The objectives of this work are the design of an experimental methodology for evaluation of the behavior of human or animal joints under physiological load conditions and the setup of robotic systems using force-torque control (FTC) to apply these realistic force-motion trajectories to cadaveric joints. In this context also the benefits of FTC for biomechanical research were aimed to show. Therefore, integrated methods using FTC have been developed for application of test series to diarthrodial joints. In the work reported here, these methods were successfully deployed to dissected porcine knee joints.



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