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Rehabilitation following Total Knee Arthroplasty (TKA) is crucial for patient outcomes. With the ageing population, the demand for such surgeries is rising, necessitating advancements in patient care and reducing healthcare burdens. Robotics offers a promising solution, with various systems emerging. This paper introduces a robotic arm-based (KUKA LBR Med 14) rehabilitation system with real-time anatomical tracking. Using bone surrogates (Sawbones), the system was tested for passive Flexion-Extension (FE) and Ab-Adduction (AA) movements of the shank. The robotic arm’s End-Effector (EE) was attached to the shank with a custom elastic band system, keeping the thigh nearly stationary. A key feature is real-time tracking, allowing the robot to adapt its motion to the femur’s position, ensuring precise control over femur-tibia rotational displacement. Promising results showed effective path tracking for passive motion tasks, aided by an impedance controller for secondary knee joint movements. Future work includes developing a non-invasive tracking system and active rehabilitation exercises.

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Real-Time Robotic Tracking for Precise and Reliable Knee Rehabilitation Tasks Following TKA

  • 会议论文

  • 发表日期：

    2025年

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  • Lorenzo Maggi,
  • Maria Pasquini,
  • Nicola Secciani,
  • Ruben Giagnoni,
  • Alessandro Ridolfi,
  • Benedetto Allotta

摘要

Rehabilitation following Total Knee Arthroplasty (TKA) is crucial for patient outcomes. With the ageing population, the demand for such surgeries is rising, necessitating advancements in patient care and reducing healthcare burdens. Robotics offers a promising solution, with various systems emerging. This paper introduces a robotic arm-based (KUKA LBR Med 14) rehabilitation system with real-time anatomical tracking. Using bone surrogates (Sawbones), the system was tested for passive Flexion-Extension (FE) and Ab-Adduction (AA) movements of the shank. The robotic arm’s End-Effector (EE) was attached to the shank with a custom elastic band system, keeping the thigh nearly stationary. A key feature is real-time tracking, allowing the robot to adapt its motion to the femur’s position, ensuring precise control over femur-tibia rotational displacement. Promising results showed effective path tracking for passive motion tasks, aided by an impedance controller for secondary knee joint movements. Future work includes developing a non-invasive tracking system and active rehabilitation exercises.