Development of a Robotic Assembly for Analyzing the Instantaneous Axis of Rotation of the Foot Ankle Complex

Figure 2

Diagram of multiaxis robotic system configured for the ankle study [30]. The testing platform consisted of an upper gimbal assembly with two translational and one rotational axes along with a 6-axis load cell, a mounting block to rigidly affix the specimen to the RTP, a pulley system to apply a static load to the AT, and an - table with a second 6-axis load cell to aid in the mounting procedure. The coordinate system is shown by -axis, -axis, and -axis. Translational and rotational vectors of the controlled axes of the RTP are also shown.