20610 生体関節力学機能解析ロボットシステムの開発((III),OS9 バイオエンジニアリング)

概要

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The objective of the present study was to develop a novel 6 degree of freedom (DOF) robotic system for knee joint biomechanics. A manipulator driven with 6 AC servo-motors originally developed by Sekito and Fujie et al. was utilized. Homogeneous transformation matrices as well as Jacobian transformation matrices were determined to describe the kinematic and kinetic relationship between the knee joint and manipulator. A hybrid position/force control was possible on a personal computer in the C-language programming environment with a new operating system (KNOPPIX+RTAI). In addition, a laser digitizer has been developed for the digitization of the 3-dimensional position of bony landmarks. This allowed for a precise fixation of the femoral and tibial coordinate systems to the femur and tibia. A passive flexion test preliminarily performed for a porcine knee joint indicated that the knee was successfully flexed while allowing natural joint motion. It is suggested that the developed robotic system is useful for the knee joint biomechanical tests.
社団法人日本機械学会の論文
2005-03-17