Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle
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...
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| Format: | Article |
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IEEE
2025-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/10855448/ |
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| author | Aleksander Skrede Andreas Fagerhaug Dalen Alf Inge Hellevik Oyvind Stavdahl Robin T. Bye |
| author_facet | Aleksander Skrede Andreas Fagerhaug Dalen Alf Inge Hellevik Oyvind Stavdahl Robin T. Bye |
| author_sort | Aleksander Skrede |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-7d8572916b404e9eb45a26d27c02a6d9 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-7d8572916b404e9eb45a26d27c02a6d92025-02-06T00:00:46ZengIEEEIEEE Access2169-35362025-01-0113217232173310.1109/ACCESS.2025.353540610855448Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the AnkleAleksander Skrede0https://orcid.org/0000-0002-0534-1010Andreas Fagerhaug Dalen1https://orcid.org/0000-0003-3210-4560Alf Inge Hellevik2https://orcid.org/0000-0001-7948-8675Oyvind Stavdahl3https://orcid.org/0000-0003-0212-3146Robin T. Bye4https://orcid.org/0000-0002-6063-1264Department of ICT and Natural Sciences, Norwegian University of Science and Technology (NTNU), Ålesund, NorwayDepartment of Research and Innovation, Ålesund Hospital Trust, Ålesund, NorwayDepartment of Research and Innovation, Ålesund Hospital Trust, Ålesund, NorwayDepartment of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, NorwayDepartment of ICT and Natural Sciences, Norwegian University of Science and Technology (NTNU), Ålesund, NorwayThis 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.https://ieeexplore.ieee.org/document/10855448/Biomechanicsfootforce controlgradient methodsmedical roboticsorthopedic procedures |
| spellingShingle | Aleksander Skrede Andreas Fagerhaug Dalen Alf Inge Hellevik Oyvind Stavdahl Robin T. Bye Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle IEEE Access Biomechanics foot force control gradient methods medical robotics orthopedic procedures |
| title | Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle |
| title_full | Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle |
| title_fullStr | Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle |
| title_full_unstemmed | Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle |
| title_short | Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle |
| title_sort | toward generality of a framework for quantifying biomechanical stability demonstration on the ankle |
| topic | Biomechanics foot force control gradient methods medical robotics orthopedic procedures |
| url | https://ieeexplore.ieee.org/document/10855448/ |
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