Research Papers

A New Kinematic Model of the Passive Motion of the Knee Inclusive of the Patella

[+] Author and Article Information
Nicola Sancisi

Vincenzo Parenti-Castelli1

 DIEM-University of Bologna, Viale del Risorgimento 2, 40136, Bologna, Italyvincenzo.parenti@unibo.it


Corresponding author.

J. Mechanisms Robotics 3(4), 041003 (Sep 26, 2011) (7 pages) doi:10.1115/1.4004890 History: Received July 23, 2010; Revised May 13, 2011; Published September 26, 2011; Online September 26, 2011

Knee models that can reproduce the motion of the joint are considerably attractive in many applications like prosthesis and orthosis design, rehabilitation, and setting and design of surgical devices. In this paper, a complete 3D equivalent mechanism for the modeling of the knee passive motion, i.e., the motion of the joint in virtually unloaded conditions, is presented. The model takes into account the relative motion of the femur and tibia and, in particular, it can also reproduce the relative motion of the patella and femur. Isometric bundles of the anterior cruciate, posterior cruciate, medial collateral, and patellar ligaments are substituted with rigid links; articular contacts between the femur and tibia are modeled by means of two additional rigid links, while the contact between the patella and femur is modeled by a hinge joint. The result is a 3D mechanism with one degree of freedom which can replicate the passive motion of the whole knee joint inclusive of the patella. A comparison with experimental data show the accuracy of the proposed mechanism.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 4

The preliminary estimate of the geometrical parameters (dashed lines) compared to the optimized ones (solid lines). The articular surfaces of the patella, femur and tibia are also represented.

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Figure 5

Pose parameters of the femur, tibia, and patella relative motion. Dot = experimental data; solid = synthesized motion.

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Figure 1

The 5-5 parallel mechanism

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Figure 2

The kinematic model of the knee joint (a) and a detail of the patello-femoral joint (b). The geometrical parameters of the patello-femoral joint are also represented.

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Figure 3

The three anatomical frames St, Sf, and Sp represented together with the tibial (light-grey), femoral (dark-grey) and patellar (black) articular surfaces




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