Abstract
The study of the movement of the vertebrae of the lumbar spine is classified as a relevant theme for research, considering the possibility of exploring the pathological dysfunctions of this region. This paper presents the development of a trajectory motion control for a lumbar spine model. The spine model is being represented by a 2 DOF (Degrees of Freedom) manipulator robot, which represents the motion of two lumbar vertebrae. For the computational simulations of the controlled spine behavior the mathematical dynamic model of the manipulator based on the Lagrange approach is being considered. Preliminary simulation results show that the implemented conventional controller robustly follows the references given for the angles of the vertebrae, guaranteeing the planned movement.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Akinci, S.Z., Arslan, Y.Z.: Finite element spine models and spinal instruments: a review. J. Mech. Med. Biol. 22(04), 2230001 (2022)
Angst, L.R.: Construção e validação de um modelo experimental da cinesiologia da coluna lombar humana. Dissertação de Mestrado do Programa de Pós-Graduação em Ciências da Saúde da Amazônia Ocidental, UFAC, Brazil (2022)
Bohl, M.A.: Range of motion testing of a novel 3d-printed synthetic spine model. Global Spine J. 10(4), 419–424 (2020)
Chevalier, M., Gómez-Schiavon, M., Ng, A.H., El-Samad, H.: Design and analysis of a proportional-integral-derivative controller with biological molecules. Cell Syst. 9(4), 338–353 (2019)
Clifton, W., Nottmeier, E., Damon, A., Dove, C., Chen, S.G., Pichelmann, M.: A feasibility study for the production of three-dimensional-printed spine models using simultaneously extruded thermoplastic polymers. Cureus 11(4) (2019)
De Zee, M., Hansen, L., Wong, C., Rasmussen, J., Simonsen, E.B.: A generic detailed rigid-body lumbar spine model. J. Biomech. 40(6), 1219–1227 (2007)
Eremina, G., Smolin, A., Martyshina, I.: Convergence analysis and validation of a discrete element model of the human lumbar spine. Rep. Mech. Eng. 3(1), 62–70 (2022)
Frost, B.A., Camarero-Espinosa, S., Foster, E.J.: Materials for the spine: anatomy, problems, and solutions. Materials 12(2), 253 (2019)
Galbusera, F., Wilke, H.J.: Biomechanics of the Spine: Basic Concepts, Spinal Disorders and Treatments. Academic Press, Cambridge (2018)
Gao, Z., Gibson, I., Ding, C., Wang, J., Wang, J.: Virtual lumbar spine of multi-body model based on simbody. Procedia Technol. 20, 26–31 (2015)
Ghaleb, N.M., Aly, A.A.: Modeling and control of 2-DOF robot arm. Int. J. Emerg. Eng. Res. Technol. 6(11), 24–31 (2018)
Kakehashi, Y., Okada, K., Inaba, M.: Development of continuum spine mechanism for humanoid robot: biomimetic supple and curvilinear spine driven by tendon. In: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), pp. 312–317. IEEE (2020)
Karadogan, E., Williams, R.L.: The robotic lumbar spine: Dynamics and feedback linearization control. Comput. Math. Methods Med. 2013 (2013)
Okubanjo, A., Oyetola, O., Osifeko, M., Olaluwoye, O., Alao, P.: Modeling of 2-DOF robot arm and control. Fed Univ. Technol. Owerri, J. Ser. (Futojnls) 3(2), 80–32 (2017)
Okyar, F., Guldeniz, O., Atalay, B.: A holistic parametric design attempt towards geometric modeling of the lumbar spine. Comput. Methods Biomech. Biomed. Eng.: Imaging Visual. (2019)
Panjabi, M.M., White, A.A., III.: Basic biomechanics of the spine. Neurosurgery 7(1), 76–93 (1980)
Swain, C.T., Pan, F., Owen, P.J., Schmidt, H., Belavy, D.L.: No consensus on causality of spine postures or physical exposure and low back pain: a systematic review of systematic reviews. J. Biomech. 102, 109312 (2020)
Tjessova, M., Minarova, M.: Precising of the vertebral body geometry by using bézier curves. In: Proceedings of Algoritmy, pp. 55–61 (2016)
Urrea, C., Kern, J., Alvarado, J.: Design and evaluation of a new fuzzy control algorithm applied to a manipulator robot. Appl. Sci. 10(21), 7482 (2020)
White 3rd, A., Panjabi, M.M.: The basic kinematics of the human spine. a review of past and current knowledge. Spine 3(1), 12–20 (1978)
Zhou, C.: Multi-objective design optimization of a mobile-bearing total disc arthroplasty considering spinal kinematics, facet joint loads, and metal-on-polyethylene contact mechanics. Ph.D. thesis, State University of New York at Binghamton (2018)
Acknowledgment
The work presented in this paper was supported by the PAVIC Laboratory (Pesquisa Aplicada em Visão e Inteligência Computacional) at University of Acre , Brazil.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Paixão, T., Alvarez, A.B., Florez, R., Palomino-Quispe, F. (2023). Motion Control of a Robotic Lumbar Spine Model. In: Rojas, I., Valenzuela, O., Rojas Ruiz, F., Herrera, L.J., Ortuño, F. (eds) Bioinformatics and Biomedical Engineering. IWBBIO 2023. Lecture Notes in Computer Science(), vol 13919. Springer, Cham. https://doi.org/10.1007/978-3-031-34953-9_16
Download citation
DOI: https://doi.org/10.1007/978-3-031-34953-9_16
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-34952-2
Online ISBN: 978-3-031-34953-9
eBook Packages: Computer ScienceComputer Science (R0)