PMID: 8945656Dec 1, 1996Paper

Forces and moments in six-DOF at the human knee joint: mathematical description for control

Journal of Biomechanics
H FujieS L Woo

Abstract

A mathematical description of six-degree of freedom (6-DOF) forces and moments with respect to a commonly utilized knee joint coordinate system was performed using a [6 x 6] Jacobian matrix developed in this study. The presented Jacobian allows the proper transformation of the forces and moments measured at a sensor coordinate system (attached to the tibia in this case) into the joint coordinate system and is dependent on the kinematics of the joint itself. Experimental application of the developed mathematics to A-P drawer tests of the intact knee confirmed that it is possible to determine the forces and moments applied to a human knee within the joint coordinate system during joint loading. More importantly, the inverse Jacobian was also determined for implementation in the force-moment control of the joint during testing using a robotic testing system. This approach is demonstrated for the joint coordinate system for the human knee in the current study, although it may be more generally applied to allow determination and control of forces and moments within any description of motions, and for any additional joints in the human body.

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Citations

Aug 22, 2009·Knee Surgery, Sports Traumatology, Arthroscopy : Official Journal of the ESSKA·Yuki KatoFreddie H Fu
Sep 29, 2009·Knee Surgery, Sports Traumatology, Arthroscopy : Official Journal of the ESSKA·Yuki KatoFreddie H Fu
May 13, 2010·Knee Surgery, Sports Traumatology, Arthroscopy : Official Journal of the ESSKA·Mirco HerbortThore Zantop
May 5, 2011·Knee Surgery, Sports Traumatology, Arthroscopy : Official Journal of the ESSKA·H FujieK Shino
Oct 22, 2013·Arthroscopy : the Journal of Arthroscopic & Related Surgery : Official Publication of the Arthroscopy Association of North America and the International Arthroscopy Association·Mirco HerbortChristian Fink
Oct 25, 2011·Arthroscopy : the Journal of Arthroscopic & Related Surgery : Official Publication of the Arthroscopy Association of North America and the International Arthroscopy Association·Yuki KatoFreddie H Fu
May 29, 2004·Journal of Orthopaedic Science : Official Journal of the Japanese Orthopaedic Association·Yasuhiko WatanabeSavio L-Y Woo
Jan 9, 2009·Medical Engineering & Physics·Shon P DarcyRichard E Debski
Dec 21, 2007·Journal of Biomechanics·Shon P DarcyNigel G Shrive
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Mar 11, 2020·Knee Surgery, Sports Traumatology, Arthroscopy : Official Journal of the ESSKA·Tomoki OhoriKen Nakata
Jan 22, 2020·Journal of Biomechanical Engineering·Rohit BadidaJoseph J Crisco
Dec 10, 2019·Journal of Back and Musculoskeletal Rehabilitation·Maedeh SafariAlireza Karimi

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