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.
Skip Nav Destination
Article navigation
February 1992
Research Papers
6R Instrumented Spatial Linkages for Anatomical Joint Motion Measurement—Part 1: Design
S. J. Kirstukas,
S. J. Kirstukas
Departments of Mechanical Engineering and Orthopaedic Surgery, University of Minnesota, Minneapolis, MN 55455
Search for other works by this author on:
J. L. Lewis,
J. L. Lewis
Departments of Mechanical Engineering and Orthopaedic Surgery, University of Minnesota, Minneapolis, MN 55455
Search for other works by this author on:
A. G. Erdman
A. G. Erdman
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
Search for other works by this author on:
S. J. Kirstukas
Departments of Mechanical Engineering and Orthopaedic Surgery, University of Minnesota, Minneapolis, MN 55455
J. L. Lewis
Departments of Mechanical Engineering and Orthopaedic Surgery, University of Minnesota, Minneapolis, MN 55455
A. G. Erdman
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
J Biomech Eng. Feb 1992, 114(1): 92-100 (9 pages)
Published Online: February 1, 1992
Article history
Received:
February 16, 1990
Revised:
May 10, 1991
Online:
March 17, 2008
Citation
Kirstukas, S. J., Lewis, J. L., and Erdman, A. G. (February 1, 1992). "6R Instrumented Spatial Linkages for Anatomical Joint Motion Measurement—Part 1: Design." ASME. J Biomech Eng. February 1992; 114(1): 92–100. https://doi.org/10.1115/1.2895455
Download citation file:
Get Email Alerts
Cited By
Related Articles
6R Instrumented Spatial Linkages for Anatomical Joint Motion Measurement—Part 2: Calibration
J Biomech Eng (February,1992)
Coordinated Planar Mechanisms to Approximate the Three Dimensional Motion of the Knee
J. Med. Devices (September,2009)
Design and Evaluation of a New General-Purpose Device for Calibrating Instrumented Spatial Linkages
J Biomech Eng (March,2009)
Related Chapters
Common Compliant Platforms
Offshore Compliant Platforms: Analysis, Design, and Experimental Studies
Processing Free Form Objects within a Product Development Process Framework
Advances in Computers and Information in Engineering Research, Volume 1
On the Similarity of Test Paper in the Intelligent System of Test Paper Composition
International Symposium on Information Engineering and Electronic Commerce, 3rd (IEEC 2011)