title: Adaptive velocity-based six degree of freedom load control for real-time unconstrained biomechanical testing.
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.
authors.affiliation: Biomechanics and Implants Research Group, Medical Device Research Institute, School of Computer Science, Engineering and Mathematics, Flinders University, Australia.
authors.forename: I M
authors.initials: IM
authors.lastname: Lawless
authors.affiliation: School of Mechanical Engineering, University of Adelaide, Australia.
authors.forename: B
authors.initials: B
authors.lastname: Ding
authors.affiliation: School of Mechanical Engineering, University of Adelaide, Australia.
authors.forename: B S
authors.initials: BS
authors.lastname: Cazzolato
authors.affiliation: Biomechanics and Implants Research Group, Medical Device Research Institute, School of Computer Science, Engineering and Mathematics, Flinders University, Australia. Electronic address: john.costi@flinders.edu.au.
authors.forename: J J
authors.initials: JJ
authors.lastname: Costi
mesh_terms: D000465:Algorithms; D000818:Animals; D001696:Biomechanical Phenomena; D007596:Joints / Q000502:physiology; D008159:Lumbar Vertebrae / Q000502:physiology*; D012371:Robotics / Q000295:instrumentation; D012756:Sheep; D013314:Stress, Mechanical
keywords: Adaptive stiffness matrix; Biomechanics; Hexapod robot; Load control; Spine