BackgroundRobot-based joint-testing systems (RJTS) can be used to perform unconstrained laxity tests, measuring the stiffness of a degree of freedom (DOF) of the joint at a fixed flexion angle while allowing the other DOFs unconstrained movement. Previous studies using the force-position hybrid (FPH) control method proposed by Fujie et al. (J Biomech Eng 115(3):211–7, ) focused on anterior/posterior tests. Its convergence and applicability on other clinically relevant DOFs such as valgus/varus have not been demonstrated. The current s1tudy aimed to develop a 6-DOF RJTS using an industrial robot, to propose two new force-position hybrid control methods, and to evaluate the performance of the methods and FPH in controlling the RJTS for anterior/posterior and valgus/varus laxity tests of the knee joint.
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机译：背景技术基于机器人的关节测试系统（RJTS）可用于执行不受约束的松弛度测试，以固定的屈曲角度测量关节的自由度（DOF）的刚度，同时允许其他自由度不受约束地运动。先前的研究使用了藤井等人提出的力位混合（FPH）控制方法。 （J Biomech Eng 115（3）：211–7，）着重于前/后测试。尚未证明其在其他临床相关的自由度（如外翻/内翻）上的收敛性和适用性。当前的研究旨在使用工业机器人开发6自由度RJTS，提出两种新的力位混合控制方法，并评估该方法和FPH在控制RJTS前后/外翻/内翻松弛中的性能膝关节测试。
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