NDLI: A Reconfigurable Multiplanar In Vitro Simulator for Real-Time Absolute Motion With External and Musculotendon Forces

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Green, Joshua T. Hale, Rena F. Hausselle, Jerome Gonzalez, Roger V.
Copyright Year	2017
Abstract	Advancements in computational musculoskeletal biomechanics are constrained by a lack of experimental measurement under real-time physiological loading conditions. This paper presents the design, configuration, capabilities, accuracy, and repeatability of The University of Texas at El Paso Joint Load Simulator (UTJLS) by testing four cadaver knee specimens with 47 real-time tests including heel and toe squat maneuvers with and without musculotendon forces. The UTJLS is a musculoskeletal simulator consisting of two robotic manipulators and eight musculotendon actuators. Sensors include eight tension load cells, two force/torque systems, nine absolute encoders, and eight incremental encoders. A custom control system determines command output for position, force, and hybrid control and collects data at 2000 Hz. Controller configuration performed forward-dynamic control for all knee degrees-of-freedom (DOFs) except knee flexion. Actuator placement and specimen potting techniques uniquely replicate muscle paths. Accuracy and repeatability standard deviations across specimen during squat simulations were equal or less than 8 N and 5 N for musculotendon actuators, 30 N and 13 N for ground reaction forces (GRFs), and 4.4 N·m and 1.9 N·m for ground reaction moments. The UTJLS is the first of its design type. Controller flexibility and physical design support axis constraints to match traditional testing rigs, absolute motion, and synchronous real-time simulation of multiplanar kinematics, GRFs, and musculotendon forces. System DOFs, range of motion, and speed support future testing of faster maneuvers, various joints, and kinetic chains of two connected joints.
Starting Page	121001
Ending Page	121011
Page Count	11
File Format	PDF
ISSN	01480731
e-ISSN	15288951
Journal	Journal of Biomechanical Engineering
Volume Number	139
Issue Number	12
DOI	10.1115/1.4037853
Language	English
Publisher	The American Society of Mechanical Engineers
Publisher Date	2017-09-28
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Actuators Control equipment Design Errors Hybrid control Kinematics Knee Muscle Rotation Sensors Simulation Stress Testing
Content Type	Text
Resource Type	Article
Subject	Physiology (medical) Biomedical Engineering

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