Simulation and Control of a Robotic/UFS Testing System With Application to Lumbar Spine Biomechanics

T. Doehring, L. Gilbertson, James D. Kang
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Abstract

Control of biomechanical experiments, especially those involving musculoskeletal joints such as the knee or spine, is a complicated problem because of the highly nonlinear kinematic, structural, and material properties of the tissue. Historically, materials testing machines with one or two degrees of freedom (DOF) (e.g. biaxial Instron, MTS) have been used. However, these devices, originally designed for testing of “standardized” engineering materials, are limited in two critical areas: 1) The number of DOF, and 2) The control system, which restricts the experiment to either “force control” or “displacement control” methods.
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机器人/UFS测试系统的仿真与控制及其在腰椎生物力学中的应用
生物力学实验的控制,特别是那些涉及肌肉骨骼关节,如膝关节或脊柱的实验,是一个复杂的问题,因为组织的高度非线性运动学,结构和材料特性。从历史上看,已经使用了具有一个或两个自由度(DOF)的材料试验机(例如双轴Instron, MTS)。然而,这些最初设计用于测试“标准化”工程材料的设备在两个关键领域受到限制:1)自由度的数量,以及2)控制系统,这将实验限制在“力控制”或“位移控制”方法上。
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