Department for Automation, Biocybernetics and Robotics

Knee movement measurement using a robot

Research activity duration: 2000 - 2001
Research area: Automation and Intelligent Control of Robots
Activity funding: Ministry
Activity leader: Damir Omrčen
Bojan Nemec


The motion of knee is determined by a robot. A robot moves a knee while maintaining low contact forces. The movement of the robot is measured and the movement of the knee is calculated afterwards.

Activity description

knee_measThe aim of the project is to determine the exact motion of a human knee in order to better understand the knee motion and to improve the quality of operations of knee ligaments. We have used an industrial robot as a measuring device, which should not affect the natural knee movement. The robot has to bend a knee and to measure positions of the knee during motion. In order to measure loaded or unloaded knee the robot has to be force controlled. To increase accuracy of the measurement we have developed autonomous force sensor gravity and offset compensation. The project was realized in collaboration with medical doctors from University medical Centre, Ljubljana.