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Fig. 10 | BioMedical Engineering OnLine

Fig. 10

From: Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing system

Fig. 10

Histories of the force and moment components during the AP test at 0° knee flexion. Changes of all the force and moment components during the constrained AP test using CT (a), and unconstrained AP tests using FPH (b), FPA (c) and FPHFM (d). While the constraining forces (PD and LM) and moments (VV and IE) were quite large during CT with RMS values of up to 38.4 N and 0.97 Nm, respectively, their values were greatly reduced during unconstrained tests (bd). The FPHFM and FPA were able to keep the constraining forces and moments close to the measurement accuracy, with RMS values of less than 2.4 N and 0.11 Nm, respectively, and the RMS values of FE angles less than 1.36°. The FPH had RMS values of up to 8.5 N and 0.33 Nm for the constraining force and moment components, respectively

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