Adaptive velocity-based six degree of freedom load control for real-time unconstrained biomechanical testing

Isaac Lawless, Boyin Ding, Benjamin Cazzolato, John Costi

    Research output: Contribution to journalArticle

    22 Citations (Scopus)

    Abstract

    Robotic biomechanics is a powerful tool for further developing our understanding of biological joints, tissues and their repair. Both velocity-based and hybrid force control methods have been applied to biomechanics but the complex and non-linear properties of joints have limited these to slow or stepwise loading, which may not capture the real-time behaviour of joints. This paper presents a novel force control scheme combining stiffness and velocity based methods aimed at achieving six degree of freedom unconstrained force control at physiological loading rates.

    Original languageEnglish
    Pages (from-to)3241-3247
    Number of pages7
    JournalJournal of Biomechanics
    Volume47
    Issue number12
    DOIs
    Publication statusPublished - 22 Sep 2014

    Keywords

    • Adaptive stiffness matrix
    • Biomechanics
    • Hexapod robot
    • Load control
    • Spine

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