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Summary: IN:Springer Lecture Notes in Control and Information Sciences 232
Interactive Visual and Force Rendering of Human-Knee
Dynamics
R. E. Ellis
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P. Zion
C. Y. Tso
£ Department of Computing and Information Science
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Department of Mechanical Engineering
Queen's University, Kingston, Canada K7L 3N6
Abstract
The kinematics and force/displacement relationships of elements of biological joints
are notoriously difficult to understand. In particular, the human knee has bearing sur-
faces of complex geometry that are connected by interacting sets of compliant tissues.
It is proposed that knee motion and reaction forces can be usefully presented, during
virtual manipulation of the joint, by simultaneous visual and haptic rendering. A pro-
totype system for visuo-haptic rendering of the human knee included an extension of a
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