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The paper presents a unilateral external leg-lengthening fixator driven by 2 DoFs (Degrees-of-Freedom) planar mechanism and a hybrid position/force control scheme. In this paper, we show that the leg lengthening by the process of “distraction osteogenesis” is able to be achieved by using the proposed robotic fixator. In the operation process, the bone is supposed to be cut into two segments, the proposed...
In this research, in order to achieve Pinpointed Muscle Force Control (PMFC) in lower limb, we developed lower limb musculoskeletal model and use the model for calculation and control one or some selected target muscles force. PMFC is the method which can be expected the effect to rehabilitation or training by giving a stimulus to the particular muscle. In the developed model, one leg has 4 links,...
A new variable-rate distraction system using a motorized distractor driven by feedback from the distraction force was designed. The distractor was mounted on a unilateral fixator and attached to the tibiae of 6 sheep that underwent distraction osteogenesis. The sheep were divided equally into 3 groups. In group 1, the forces were recorded but were not used to drive the lengthening rate. In group 2,...
The coordinated and simultaneous movements of the scapula, clavicle and humerus are necessary for full elevation and normal function of the upper limb. The morphologic structure of the shoulder can be represented, at a first approximation, by a set of geometrical finite elements. Three representations of bone contours are used to model the shoulder mechanism. The development of this type of applications...
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