Effects of Population Variability on Knee Loading During Simulated Human Gait.

Cadaveric simulation models allow researchers to study native tissues in situ. However, as tests are conducted using donor specimens with unmatched kinematics, techniques that impose population average motions are subject to deviation from true physiologic conditions. This study aimed to identify factors which explain the kinetic variability observed during robotic simulations of a single human gait motion using a sample of human cadaver knees. Twelve human cadaver limbs (58 ± 16 years) were subjected to tibiofemoral geometrical analysis and cyclical stiffness testing in each anatomical degree of freedom. A simulated gait motion was then applied to each specimen. Resulting kinetics, specimen geometries, and various representations of tissue stiffness were reduced to functional attributes using principal component analysis and fit to a generalized linear prediction model. The capacity of knee topography to generate force was the largest contributor to kinetic variation in compression. Overall joint size, femoral notch height, translational laxity, and ad/abduction stiffness significantly contributed to kinetic variation in medial/lateral and anterior/posterior forces and associated torques. Future studies will investigate customizing kinematic paths to better simulate native conditions and reduce sampling variation, improving biomechanical test methods and evaluation strategies for future orthopedic techniques.

Impacts of Robotic Compliance and Bone Bending on Simulated in vivo Knee Kinematics.

Robotic testing offers researchers the opportunity to quantify native tissue loads for the structures of the knee joint during activities of daily living. These loads may then be translated into design requirements for future treatments and procedures to combat the early onset of knee degeneration following an injury. However, high knee loads during testing have the potential to deflect a robotic end effector and cause inaccuracies in the applied kinematics. Furthermore, bone bending could also induce kinematic change. This study aimed to quantify the effects of robotic compliance and bone bending on the accuracy of simulated in vivo kinematics in a KUKA KRC210 serial robotic system. Six (6) human cadaver knees were subjected to cyclic human gait motion while 6 DOF forces and torques were recorded at the joint. A Vicon T-Series camera system was used to independently record the applied kinematics. Periods of highest kinematic deviation occurred during instances of low joint loading, suggesting negligible levels of forced deflection for simulations of moderate levels of activity while results of this small study indicate that high physiologic loading poses low risk of deviation from target kinematics, further testing is necessary to confirm.

Determining the threshold of time-delay for teleoperation accuracy and efficiency in relation to telesurgery.

BACKGROUND: Advances in robotics have made teleoperated surgical procedures a feasible means of treating patients in remote locations. In this study a suite of experiments was performed to investigate the influence of time-delay on teleoperation accuracy and efficiency during a path-following task. MATERIALS AND METHODS: Subjects used a Phantom Omni 6-degrees of freedom (dof) input device (Sensable, Triangle Park, NC) to move the end-effector of a Mitsubishi (Tokyo, Japan) PA-10 7-dof robotic manipulator along a prescribed path. End-effector motion was recorded using a video motion capture system. Time-delays ranging from 0 to 2.5 s were artificially imposed. Performance was quantified by time to complete the task, path length, and square root-mean-square (RMS) error. Randomization of time-delay order and allowance for practice runs reduced the learning effect. An imposed time limit and pacing were used to negate the move-and-pause strategy that emerged in early trials. RESULTS: Time to complete the task and RMS error generally increased with increasing time-delay. Path length also generally increased, but not as consistently. With imposed pacing, RMS error continued to increase beyond 1.5 s, and some subjects were not able to complete the task in the allotted 90 s. CONCLUSIONS: The results suggest a threshold of time-delay in the range of 1.5-2.0 s. Beyond 1.5 s, subjects adopted a move-and-pause strategy that increased completion time to preserve path-tracking accuracy. If paced, tracking accuracy tended to degrade substantially beyond 1.5 s. A strong learning effect was evident, and experienced teleoperators performed substantially better than novices.

Bungee force level, stiffness, and variation during treadmill locomotion in simulated microgravity.

INTRODUCTION: Crewmembers performing treadmill exercise on the International Space Station must wear a harness with an external gravity replacement force that is created by elastomer bungees. The quantification of the total external force, displacement, stiffness, and force variation is important for understanding the forces applied to the crewmember during typical exercise. METHODS: Data were collected during static trials in the laboratory from a single subject and four subjects were tested while walking at 1.34 m x s(-1) and running at 2.24 m x s(-1) and 3.13 m x s(-1) on a treadmill during simulated microgravity in parabolic flight. The external force was provided by bungees and carabiner clips in configurations commonly used by crewmembers. Total external force, displacement, and force variation in the bungee system were measured, from which stiffness was computed. RESULTS: Mean external force ranged from 431 to 804 N (54-131% bodyweight) across subjects and conditions. Mean displacement was 4 to 8 cm depending upon gait speed. Mean stiffness was affected by bungee configuration and ranged from 1.73 to 29.20 N x cm(-1). Force variation for single bungee configurations was 2.61-4.48% of total external force and between 4.30-57.5% total external force for two-bungee configurations. CONCLUSIONS: The external force supplied to crewmembers by elastomer bungees provided a range of loading levels with variations that occur throughout the gait cycle. The quantification of bungee-loading characteristics is important to better define the system currently used by crewmembers during exercise.