抄録
TKA (Total Knee Arthroplasty) is an effective treatment for the people who suffer from severe knee disease. Many motion simulators have been developed to evaluate the performance of an artificial knee joint. However, it is difficult to realize a real human lower-limb condition by the motion simulator, especially for the deep knee flexion of the lower-limb. We have developed a lower-limb motion simulator which is close to human lower-limb mechanism. The developed simulator is driven by wires instead of muscles of human lower-limb and the deep knee flexion can be realized like real human lower-limb. In this paper, to achieve the human-like flexion/extension motion of the knee joint and hip joint, impedance control method has been applied.
