文章基本信息

标题：Descending Staircase in the UGent Knee Rig: a Feasibility Study
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作者：Amélie Chevalier ; Jan Victor ; Stijn Herregodts 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：15
页码：430-435
DOI：10.1016/j.ifacol.2021.10.294
语种：English
出版社：Elsevier
摘要：AbstractThe objective of this work consists of studying the feasibility to impose descending stair negotiation in the UGent Knee Rig (UGKR). The force and position reference signals for the control strategy are derived from literature. A mathematical coordinate transformation is developed to make the stair descent possible within the limitations of the UGKR. Kinematic measurements of the six degrees of freedom in the knee joint allow to assess knee instability. Therefore, a kinematic measurement method based on CT-images is used to measure the relative position of the bones during the stair descent. First, the study is performed on a mechanical knee hinge to evaluate the performance of the position and force control. Second, a saw-bone study is performed to assess the kinematic measurement. The results show the feasibility of the developed method to impose stair descent motions in future cadaver studies.
关键词：KeywordsDescending stairKnee KinematicsDynamic kee rigBiomedical ControlJoint trajectory