NDLI: Robotic leg-lengthening fixator using hybrid position/force control

Content Provider	IEEE Xplore Digital Library
Author	Manzoor, S. Mi Jung Kim Youngjin Choi
Copyright Year	2014
Description	Author affiliation: Electron. Syst. Eng., Hanyang Univ., Ansan, South Korea (Manzoor, S.; Youngjin Choi) \|\| Rehabilitation Med., Hanyang Univ., Seoul, South Korea (Mi Jung Kim)
Abstract	The paper presents a unilateral external leg-lengthening fixator driven by 2 DoFs (Degrees-of-Freedom) planar mechanism and a hybrid position/force control scheme. In this paper, we show that the leg lengthening by the process of “distraction osteogenesis” is able to be achieved by using the proposed robotic fixator. In the operation process, the bone is supposed to be cut into two segments, the proposed external fixation mechanism periodically increases the gap between two segments of the bone, while new bone continues to grow between them. The frequency and magnitude of the gap generation is controlled using a neural oscillator proposed in the paper. Unlike the existing external fixators, the mechanism is proposed to be driven by electric motors. As the distance between two segments of the bone is increased, so the muscles and the tissues connected to the bone are also stretched. If the process of bone elongation is abruptly performed, it may cause a serious fatigue and damage to the muscles and other connected tissues. Also there may be misalignment or a small bend in newly formed bone which may result in knee joint axial deformity. As a remedy of these problems, the proposed leg lengthening mechanism is controlled by using a hybrid position/force control scheme. Finally, the effectiveness of the proposed scheme is suggested through several simulation studies.
Starting Page	579
Ending Page	584
File Size	415682
Page Count	6
File Format	PDF
e-ISBN	9781479936694
DOI	10.1109/CYBER.2014.6917528
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-04
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Force Muscles Bones Force control Joints Oscillators
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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