Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10432148 | Journal of Biomechanics | 2014 | 7 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Biomedical Engineering
Authors
I.M. Lawless, B. Ding, B.S. Cazzolato, J.J. Costi,