机器人实验系统在人体膝关节生物力学实验中的价值

On Evaluating the Robot-based Experimental System for Biomechanical Experiment of Human Knee

采用混合力/位移控制方法对人体膝关节标本进行加载,通过人体膝关节半月板全切除术的生物力学实验分析自主研发的机器人生物力学实验系统的作用与价值。整个机器人控制系统可以实现对实验标本进行连续加载,克服了以往的实验装置只能断续加载的缺点。它可以实时读取标本的受力,以及在此受力状态下的空间位置,克服了以往力和位移的测量分离的缺点,大大提高了测量精度。

This is a report on how we use the hybrid force-displacement control method to load the human knee and analyze the effect and value of our robot experimental system through the biomechanical experiments of total meniscal resection of human knee.The whole robot control system can load continuously on the specimens, thus overcoming the shortcomings of the traditional loading methods which can only load discretely.In the meantime,by using the robot-based testing system,the force（torque） of the specimens and the spatial position under the force can be measured in real-time,which overcomes the shortcomings caused by the separation of force（torque） measurement from displacement measurement and so greatly improves the measurement accuracy.