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Exploiting Reciprocity Between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics

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Advances in Robot Kinematics 2022 (ARK 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 24))

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Abstract

Musculoskeletal models are limited in their clinical application by the complexity of their personalization. In this work we present a novel and general approach for the reconstruction of the individual joint kinematics that may provide a reference for the personalization of more complex models. The approach relies on the principle of virtual work and obtains the joint motion by imposing reciprocity between instantaneous helical axis and joint constraints. As a case of study, we investigate a cadaveric knee, whose motion was experimentally measured for validation. Comparison between computed and experimental motion resulted in maximum mean rotational and translational errors of 2.6 ± 0.9° and 1.2 ± 0.7 mm, respectively, supporting the efficacy of the presented approach.

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Correspondence to Michele Conconi .

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Conconi, M., Sancisi, N., Parenti-Castelli, V. (2022). Exploiting Reciprocity Between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_40

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