| Autor: |
Jens Hoogen, Rainer Burgkart, Robert Riener, Günther Schmidt, Martin Buss |
| Rok vydání: |
2000 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 33:543-547 |
| ISSN: |
1474-6670 |
| DOI: |
10.1016/s1474-6670(17)39201-7 |
| Popis: |
A knee joint simulator that comprises the properties of a healthy or pathological knee can support medical education and training. In this paper a mechatronic system is presented that allows a user to touch and move a virtual shank and simultaneously observe the generated movement, feel the contact force, and hear sounds produced by the joint movement or the patient due to pain. These features enable the user to assess the properties of the knee by testing the joint laxity and end-point stiffness in six degrees-of-motion (DOF). It was possible to approximate the elastic knee joint properties by simple non-linear algebraic functions based on experimental data. Thus, the haptic feedback could be performed at a high rate (1000 Hz), which yielded considerably realistic knee behaviour. The performance was further improved by implementing a realistic leg shape, different contact stiffness for shin and calf, and contact friction. For additional tests the knee tendon reflex can be activated and the pulse can be palpated in the hollow of the knee. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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