Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle

作     者：Skrede, Aleksander Dalen, Andreas Fagerhaug Hellevik, Alf Inge Stavdahl, Oyvind Bye, Robin T. 

作者机构：Norwegian Univ Sci & Technol NTNU Dept ICT & Nat Sci N-6002 Alesund Norway Alesund Hosp Trust Dept Res & Innovat N-6017 Alesund Norway Norwegian Univ Sci & Technol NTNU Dept Engn Cybernet N-7034 Trondheim Norway 

出 版 物：《IEEE ACCESS》 (IEEE Access)

年 卷 期：2025年第13卷

页      面：21723-21733页

核心收录：

基　　金：Liaison Committee for Education, Research and Innovation in Central Norway [2019/38881] Norwegian University of Science and Technology (NTNU) 

主　　题：Biomechanics Ankle Protocols Robots Robot kinematics Stability criteria Service robots Planning Loading Industrial robots foot force control gradient methods medical robotics orthopedic procedures robotics and automation robot kinematics robot motion torque control 

摘      要：This paper presents a mathematical description and experimental investigation of using an industrial robot to evaluate biomechanical stability in human cadaveric ankle specimens. We previously proposed a methodology and parameterizable task-space motion framework for biomechanical investigations of shoulders. The present study aimed to demonstrate the generality and application of our framework to replicate an ankle test protocol from the literature, and to experimentally evaluate the replicated test protocol. Stability tests in cadaveric studies can be performed by applying a known force or torque to the joint, and measuring the resulting linear or angular motion. The relative stability between joint states can be determined by comparing the magnitude of motion, for example, between the intact, injured, or surgically repaired states. Increased joint motion between states can be interpreted as decreased stability, whereas decreased joint motion can be interpreted as increased stability. Comparing the motion between different states can be used to investigate the effects of soft tissue or bony structures on stability. The replicated protocol was tested in a technical pilot study using a fresh frozen human cadaveric ankle specimen. The specimen was tested in the intact state and in three subsequent injury states. This pilot study demonstrated that the framework could successfully be parameterized to conduct tests on the ankle joint. The expected trend for subsequent injury states was progressive instability, and the observed trends from experimental testing aligned with this prior expectation. However, additional work on the framework is necessary to make it truly generalized.