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A Combined Robotic/universal Force Sensor Approach To Determine In Situ Forces Of Knee Ligaments.

T. W. Rudy, G. A. Livesay, S. Woo, Freddie H. Fu
Published 1996 · Engineering, Medicine

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We developed a system that uses a 6-degree-of-freedom (6-DOF) robotic manipulator combined with a 6-DOF force-moment sensor and a control system. The system is used to find and record the passive knee flexion path for controlling the knee flexion positions. It is also used to strain a knee structure by finding a multiple-DOF path in response to specific joint loading, e.g. anterior-posterior tibial force application. It is additionally used to measure in-situ forces in ligaments by recording differences in forces and moments when repeating a prerecorded path, both before and after removal of the ligament of interest. Example applications are included in the study.
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