ANALYSIS AND IMPLICATIONS OF COMPLIANCE IN JOINT BIOMECHANICS SUPERPOSITION TESTING

Abstract

To quantify the contribution of specific ligaments to overall joint movement, the principle of superposition has been used for nearly 30 years. This principle relies on using a robotic test system to move a biological joint to the same position before and after transecting a ligament. The difference in joint forces before and after transecting the ligament is assumed to be the transected ligaments tension. However, the robotic test systems ability to accurately return the joint to the commanded pose is dependent on the compliance of the systems various components, which is often neglected. Accordingly, there were three objectives in this manuscript: (1) Explain the influence of system compliance on positioning error in superposition testing with a mathematical model, (2) Quantify the compliance of components within the test system and (3) Provide a framework to evaluate uncertainty in published superposition based in situ force measurements, and demonstrate it on published Anterior Cruciate Ligament (ACL) forces. A system stiffness model was derived to explain that compliance of test system components will cause the superposition method to underestimate ligament tension and stiffness. Based on typical test system component and joint stiffness ranges measured in this study, it was determined that with decreasing robot and/or bone stiffness, or increasing joint stiffness values, ligament load error could increase to values greater than 50%. Results indicate that experimentalists should (1) increase test system component stiffness relative to joint stiffness and/or (2) compensate for compliance induced deflection of the test system components.