Kirstukas S J, Lewis J L, Erdman A G
Department of Mechanical Engineering, University of Minnesota, Minneapolis 55455.
J Biomech Eng. 1992 Feb;114(1):92-100. doi: 10.1115/1.2895455.
Six-revolute-joint instrumented spatial linkages (6R ISLs) have become often-used devices to measure the complete six-degree-of-freedom motion of anatomical joints. Accuracy of motion measurement depends on ISL design and calibration technique. In this paper, a design process is outlined that uses computer graphics and numerical methods as aids in developing 6R ISLs that (i) physically assemble within the desired range of motion of the joint; (ii) do not collide with either the experimental apparatus or the subject joint; (iii) avoid singular linkage configurations that can cause forces to be applied to the joint; and (iv) measure selected anatomical motions most accurately. It is found that a certain subgroup of 6R linkages are suitable for accurate measurement of specific motions, and can be the basis for new ISL designs. General guidelines are developed that can assist in the generation of unique linkage designs for different anatomical joints. The design process is demonstrated in the creation of an ISL to measure knee motion.
六旋转关节仪器化空间连杆机构（6R ISLs）已成为常用于测量解剖关节完整六自由度运动的装置。运动测量的准确性取决于ISL的设计和校准技术。本文概述了一种设计过程，该过程使用计算机图形学和数值方法来辅助开发6R ISLs，使其能够：（i）在关节的期望运动范围内进行物理组装；（ii）不与实验设备或受试者关节发生碰撞；（iii）避免可能导致对关节施加力的奇异连杆配置；（iv）最准确地测量选定的解剖运动。研究发现，6R连杆机构的某一亚组适用于特定运动的精确测量，并且可以作为新的ISL设计的基础。制定了通用指南，可协助为不同的解剖关节生成独特的连杆设计。通过创建一个测量膝关节运动的ISL来演示该设计过程。
