Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper

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OMRČEN, Damir ;NEMEC, Bojan .
Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 48, n.2, p. 87-97, july 2017. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/measuring-knee-movement-using-an-industrial-robot-gravity-compensation-for-the-automatic-gripper/>. Date accessed: 05 apr. 2020. 
doi:http://dx.doi.org/.
Omrčen, D., & Nemec, B.
(2002).
Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper.
Strojniški vestnik - Journal of Mechanical Engineering, 48(2), 87-97.
doi:http://dx.doi.org/
@article{.,
	author = {Damir  Omrčen and Bojan  Nemec},
	title = {Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {48},
	number = {2},
	year = {2002},
	keywords = {knee models; grippers; gravity compensation; medical robots; tool centre point; },
	abstract = {Injuries to the knee ligaments are very common among althetes. Therefore, a thorough understanding of the knee and the knee ligaments is necessary for successful surgical operations on the ligaments. This paper describes procedures for determining of the geometrical model of the knee’s movement. The movement of the knee was measured with a RIKO 106, force-controlled, six-degrees-of-freedom industrial robot. The surface of the knee joint was scanned with a coordinate-measuring machine and a geometrical model of the knee was developed on a PC. For the modelling we used a computer program called Matlab. The robot should only bend the knee in a specified direction, and should not affect the natural movement of the knee. Therefore, we had to minimize the forces and torques in the knee joint that are caused by the robot. In order to do this, we had to compensate for the influence of gravity on the gripper and the sensor offsets. During the measurement we had to control the forces/torques in the knee joint. As the force/ torque sensor was attached on the robot tip the measured forces/torque had to be mapped to the knee joint. This paper more exactly addresses the automatic procedure for the gripper-weight compensation and the offset determination. It also explains the algorithm of the transformation of the forces/torques to the kneejoint coordinate system and the automatic determination of the tool’s centre point.},
	issn = {0039-2480},	pages = {87-97},	doi = {},
	url = {https://www.sv-jme.eu/article/measuring-knee-movement-using-an-industrial-robot-gravity-compensation-for-the-automatic-gripper/}
}
Omrčen, D.,Nemec, B.
2002 July 48. Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 48:2
%A Omrčen, Damir 
%A Nemec, Bojan 
%D 2002
%T Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper
%B 2002
%9 knee models; grippers; gravity compensation; medical robots; tool centre point; 
%! Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper
%K knee models; grippers; gravity compensation; medical robots; tool centre point; 
%X Injuries to the knee ligaments are very common among althetes. Therefore, a thorough understanding of the knee and the knee ligaments is necessary for successful surgical operations on the ligaments. This paper describes procedures for determining of the geometrical model of the knee’s movement. The movement of the knee was measured with a RIKO 106, force-controlled, six-degrees-of-freedom industrial robot. The surface of the knee joint was scanned with a coordinate-measuring machine and a geometrical model of the knee was developed on a PC. For the modelling we used a computer program called Matlab. The robot should only bend the knee in a specified direction, and should not affect the natural movement of the knee. Therefore, we had to minimize the forces and torques in the knee joint that are caused by the robot. In order to do this, we had to compensate for the influence of gravity on the gripper and the sensor offsets. During the measurement we had to control the forces/torques in the knee joint. As the force/ torque sensor was attached on the robot tip the measured forces/torque had to be mapped to the knee joint. This paper more exactly addresses the automatic procedure for the gripper-weight compensation and the offset determination. It also explains the algorithm of the transformation of the forces/torques to the kneejoint coordinate system and the automatic determination of the tool’s centre point.
%U https://www.sv-jme.eu/article/measuring-knee-movement-using-an-industrial-robot-gravity-compensation-for-the-automatic-gripper/
%0 Journal Article
%R 
%& 87
%P 11
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 48
%N 2
%@ 0039-2480
%8 2017-07-07
%7 2017-07-07
Omrčen, Damir, & Bojan  Nemec.
"Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper." Strojniški vestnik - Journal of Mechanical Engineering [Online], 48.2 (2002): 87-97. Web.  05 Apr. 2020
TY  - JOUR
AU  - Omrčen, Damir 
AU  - Nemec, Bojan 
PY  - 2002
TI  - Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - knee models; grippers; gravity compensation; medical robots; tool centre point; 
N2  - Injuries to the knee ligaments are very common among althetes. Therefore, a thorough understanding of the knee and the knee ligaments is necessary for successful surgical operations on the ligaments. This paper describes procedures for determining of the geometrical model of the knee’s movement. The movement of the knee was measured with a RIKO 106, force-controlled, six-degrees-of-freedom industrial robot. The surface of the knee joint was scanned with a coordinate-measuring machine and a geometrical model of the knee was developed on a PC. For the modelling we used a computer program called Matlab. The robot should only bend the knee in a specified direction, and should not affect the natural movement of the knee. Therefore, we had to minimize the forces and torques in the knee joint that are caused by the robot. In order to do this, we had to compensate for the influence of gravity on the gripper and the sensor offsets. During the measurement we had to control the forces/torques in the knee joint. As the force/ torque sensor was attached on the robot tip the measured forces/torque had to be mapped to the knee joint. This paper more exactly addresses the automatic procedure for the gripper-weight compensation and the offset determination. It also explains the algorithm of the transformation of the forces/torques to the kneejoint coordinate system and the automatic determination of the tool’s centre point.
UR  - https://www.sv-jme.eu/article/measuring-knee-movement-using-an-industrial-robot-gravity-compensation-for-the-automatic-gripper/
@article{{}{.},
	author = {Omrčen, D., Nemec, B.},
	title = {Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {48},
	number = {2},
	year = {2002},
	doi = {},
	url = {https://www.sv-jme.eu/article/measuring-knee-movement-using-an-industrial-robot-gravity-compensation-for-the-automatic-gripper/}
}
TY  - JOUR
AU  - Omrčen, Damir 
AU  - Nemec, Bojan 
PY  - 2017/07/07
TI  - Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 48, No 2 (2002): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - knee models, grippers, gravity compensation, medical robots, tool centre point, 
N2  - Injuries to the knee ligaments are very common among althetes. Therefore, a thorough understanding of the knee and the knee ligaments is necessary for successful surgical operations on the ligaments. This paper describes procedures for determining of the geometrical model of the knee’s movement. The movement of the knee was measured with a RIKO 106, force-controlled, six-degrees-of-freedom industrial robot. The surface of the knee joint was scanned with a coordinate-measuring machine and a geometrical model of the knee was developed on a PC. For the modelling we used a computer program called Matlab. The robot should only bend the knee in a specified direction, and should not affect the natural movement of the knee. Therefore, we had to minimize the forces and torques in the knee joint that are caused by the robot. In order to do this, we had to compensate for the influence of gravity on the gripper and the sensor offsets. During the measurement we had to control the forces/torques in the knee joint. As the force/ torque sensor was attached on the robot tip the measured forces/torque had to be mapped to the knee joint. This paper more exactly addresses the automatic procedure for the gripper-weight compensation and the offset determination. It also explains the algorithm of the transformation of the forces/torques to the kneejoint coordinate system and the automatic determination of the tool’s centre point.
UR  - https://www.sv-jme.eu/article/measuring-knee-movement-using-an-industrial-robot-gravity-compensation-for-the-automatic-gripper/
Omrčen, Damir, AND Nemec, Bojan.
"Measuring knee movement using an industrial robot – gravity compensation for the automatic gripper" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 48 Number 2 (07 July 2017)

Authors

Affiliations

  • Institute Jožef Štefan, Ljubljana, Slovenia
  • Institute Jožef Štefan, Ljubljana, Slovenia

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 48(2002)2, 87-97

Injuries to the knee ligaments are very common among althetes. Therefore, a thorough understanding of the knee and the knee ligaments is necessary for successful surgical operations on the ligaments. This paper describes procedures for determining of the geometrical model of the knee’s movement. The movement of the knee was measured with a RIKO 106, force-controlled, six-degrees-of-freedom industrial robot. The surface of the knee joint was scanned with a coordinate-measuring machine and a geometrical model of the knee was developed on a PC. For the modelling we used a computer program called Matlab. The robot should only bend the knee in a specified direction, and should not affect the natural movement of the knee. Therefore, we had to minimize the forces and torques in the knee joint that are caused by the robot. In order to do this, we had to compensate for the influence of gravity on the gripper and the sensor offsets. During the measurement we had to control the forces/torques in the knee joint. As the force/ torque sensor was attached on the robot tip the measured forces/torque had to be mapped to the knee joint. This paper more exactly addresses the automatic procedure for the gripper-weight compensation and the offset determination. It also explains the algorithm of the transformation of the forces/torques to the kneejoint coordinate system and the automatic determination of the tool’s centre point.

knee models; grippers; gravity compensation; medical robots; tool centre point;