Figure 1 | Scientific Reports

Figure 1

From: Effect of surgical parameters on the biomechanical behaviour of bicondylar total knee endoprostheses – A robot-assisted test method based on a musculoskeletal model

Figure 1

Functional principle of the hardware-in-the-loop simulation to evaluate total knee replacements during dynamic activities. The physical setup (left) consists of an industrial robot (1) with a six degrees of freedom force-torque sensor (2), mounted on a compliant support (3) with the tibial component (4). The end-effector is equipped with the femoral component (5). The robot moves and loads the total knee endoprosthesis according to the flexion angle delivered by the musculoskeletal multibody model of the lower right extremity, which constitutes the numerical setup (right). The musculoskeletal multibody model includes bones, muscles, ligaments, and a virtually implanted total knee endoprosthesis. Motion sequence and reaction forces/torques are transferred to the robot, closing the loop.

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