Calibration and validation of 6 DOFs instrumented spatial linkage for biomechanical applications. A practical approach.
A method for both calibration and validation of a 6 DOF electrogoniometer is presented. A 6 Revolute Instrumented Spatial Linkage (6R-ISL) and a three-dimensional digitizer (3DD) were used simultaneously to collect both static and continuous poses of unconstrained or constrained motions. Validation occurred using a calibrated ball-and-socket joint. A parametrical model of the 6R-ISL (i.e. Virtual Goniometer or VG) was designed using a standard multibody system geometry. Two approaches were used to adjust the VG parameters: a parametrical adjustment of the VG linkage geometry, and a functional adjustment of the potentiometer calibration curves (angle-voltage) in a predefined range of motion. After calibration, 6R-ISL accuracy was better than 1 mm and 1 degrees for translation and orientation, respectively. The functional method presented in this paper can be suggested as a practical approach, which allows on-line checking and calibration of 6R-ISL within the specific range of interest of a particular anatomical joint. In addition, improving the potentiometer calibration curves was less time consuming than the parametrical adjustment.
Sholukha
Victor
V
Department of Anatomy (CP 619), University of Brussels, Lennik Street 808, 1070 Brussels, Belgium.
Salvia
Patrick
P
Hilal
Isam
I
Feipel
Véronique
V
Rooze
Marcel
M
Jan
Serge Van Sint
SV
D000465:Algorithms; D001696:Biomechanical Phenomena / Q000379:methods*; D001698:Biomedical Engineering / Q000379:methods*; D002138:Calibration; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D021621:Imaging, Three-Dimensional; D007596:Joints / Q000473:pathology; D016014:Linear Models; D015233:Models, Statistical; D008962:Models, Theoretical; D011199:Potentiometry; D016059:Range of Motion, Articular