{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T11:21:28Z","timestamp":1785410488072,"version":"3.56.0"},"reference-count":25,"publisher":"ASME International","issue":"8","license":[{"start":{"date-parts":[[2025,6,11]],"date-time":"2025-06-11T00:00:00Z","timestamp":1749600000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.asme.org\/publications-submissions\/publishing-information\/legal-policies"}],"content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,8,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>To quantify the contributions of specific ligaments to overall joint movement, the principle of superposition has been used for nearly 30\u2009years. This principle relies on using a robotic test system to move a biological joint to the same position before and after transecting a specific ligament. The resulting difference in joint forces is assumed to be the transected ligament's tension. However, the robotic test system's ability to accurately return the joint to the commanded pose is dependent on the compliance of the system's various components, which is often neglected. Accordingly, there were three objectives in this paper: (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 robotic test system, and (3) Provide a framework to evaluate uncertainty in published superposition based in situ force measurements and demonstrate their implications on published anterior cruciate ligament (ACL) forces. A system stiffness model (SSM) 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) maximize test system component stiffness relative to joint stiffness and\/or (2) compensate for compliance induced deflection of the test system components.<\/jats:p>","DOI":"10.1115\/1.4068634","type":"journal-article","created":{"date-parts":[[2025,5,9]],"date-time":"2025-05-09T10:26:17Z","timestamp":1746786377000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":2,"title":["Analysis and Implications of Compliance on Joint Biomechanics Measurements in Superposition Testing"],"prefix":"10.1115","volume":"147","author":[{"given":"Callan M.","family":"Gillespie","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering and Lerner Research Institute, Cleveland Clinic Foundation, 2111 E 96th Street , Cleveland, OH 44106 ; , 2111 E 96th Street, Cleveland, OH 44106"},{"name":"Department of Applied Biomedical Engineering, Cleveland State University , Cleveland, OH 44106 ; , 2111 E 96th Street, Cleveland, OH 44106"},{"id":[{"id":"https:\/\/ror.org\/03xjacd83","id-type":"ROR","asserted-by":"publisher"}],"name":"Cleveland Clinic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nicholas J.","family":"Haas","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering and Lerner Research Institute, Cleveland Clinic Foundation , 2111 E 96th Street, Cleveland, OH 44106"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tara F.","family":"Nagle","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering and Lerner Research Institute, Cleveland Clinic Foundation , 2111 E 96th Street, Cleveland, OH 44106"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Robb W.","family":"Colbrunn","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering and Lerner Research Institute, Cleveland Clinic Foundation, 2111 E 96th Street , Cleveland, OH 44106 ; , 2111 E 96th Street, Cleveland, OH 44106"},{"name":"Department of Applied Biomedical Engineering, Cleveland State University , Cleveland, OH 44106 ; , 2111 E 96th Street, Cleveland, OH 44106"},{"id":[{"id":"https:\/\/ror.org\/03xjacd83","id-type":"ROR","asserted-by":"publisher"}],"name":"Cleveland Clinic"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"33","published-online":{"date-parts":[[2025,6,11]]},"reference":[{"issue":"3","key":"2025061223272764900_bib1","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1115\/1.2895477","article-title":"The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology","volume":"115","year":"1993","journal-title":"ASME J. Biomech. Eng."},{"issue":"4","key":"2025061223272764900_bib2","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1007\/BF02584446","article-title":"Determination of the in Situ Forces and Force Distribution Within the Human Anterior Cruciate Ligament","volume":"23","year":"1995","journal-title":"Ann. Biomed. Eng."},{"issue":"1","key":"2025061223272764900_bib3","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.2792266","article-title":"The Use of a Universal Force-Moment Sensor to Determine in-Situ Forces in Ligaments: A New Methodology","volume":"117","year":"1995","journal-title":"ASME J. Biomech. Eng."},{"issue":"10","key":"2025061223272764900_bib4","doi-asserted-by":"crossref","first-page":"1357","DOI":"10.1016\/0021-9290(96)00056-5","article-title":"A Combined Robotic\/Universal Force Sensor Approach to Determine in Situ Forces of Knee Ligaments","volume":"29","year":"1996","journal-title":"J. Biomech."},{"issue":"6","key":"2025061223272764900_bib5","doi-asserted-by":"crossref","first-page":"824","DOI":"10.1177\/036354659602400619","article-title":"Assessment of Posterior Cruciate Ligament Graft Performance Using Robotic Technology","volume":"24","year":"1996","journal-title":"Am. J. Sports Med."},{"key":"2025061223272764900_bib6","doi-asserted-by":"crossref","first-page":"212","DOI":"10.1016\/j.jbiomech.2017.09.032","article-title":"New Parameters Describing How Knee Ligaments Carry Force in Situ Predict Interspecimen Variations in Laxity During Simulated Clinical Exams","volume":"64","year":"2017","journal-title":"J. Biomech."},{"issue":"12","key":"2025061223272764900_bib7","doi-asserted-by":"crossref","first-page":"121001","DOI":"10.1115\/1.4044582","article-title":"In Situ Joint Stiffness Increases During Skeletal Growth but Decreases Following Partial and Complete Anterior Cruciate Ligament Injury","volume":"141","year":"2019","journal-title":"ASME J. Biomech. Eng."},{"issue":"1","key":"2025061223272764900_bib8","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1177\/0363546519888488","article-title":"Engagement of the Secondary Ligamentous and Meniscal Restraints Relative to the Anterior Cruciate Ligament Predicts Anterior Knee Laxity","volume":"48","year":"2020","journal-title":"Am. J. Sports Med."},{"key":"2025061223272764900_bib9","article-title":"Sex-Specific Function and Morphology of the Anterior Cruciate Ligament During Skeletal Growth in a Porcine Model","volume-title":"bioRxiv","year":"2021"},{"issue":"3","key":"2025061223272764900_bib10","doi-asserted-by":"crossref","first-page":"558","DOI":"10.1177\/0363546509350110","article-title":"In Situ Forces in the Anteromedial and Posterolateral Bundles of the Anterior Cruciate Ligament Under Simulated Functional Loading Conditions","volume":"38","year":"2010","journal-title":"Am. J. Sports Med."},{"issue":"11","key":"2025061223272764900_bib11","doi-asserted-by":"crossref","first-page":"937","DOI":"10.2106\/JBJS.15.00344","article-title":"Biomechanical Assessment of the Anterolateral Ligament of the Knee: A Secondary Restraint in Simulated Tests of the Pivot Shift and of Anterior Stability","volume":"98","year":"2016","journal-title":"JBJS"},{"issue":"3","key":"2025061223272764900_bib12","doi-asserted-by":"crossref","first-page":"395","DOI":"10.1177\/03635465980260030901","article-title":"Determination of the in Situ Forces in the Human Posterior Cruciate Ligament Using Robotic Technology","volume":"26","year":"1998","journal-title":"Am. J. Sports Med."},{"issue":"1","key":"2025061223272764900_bib13","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1115\/1.1644567","article-title":"A Novel Robotic System for Joint Biomechanical Tests: Application to the Human Knee Joint","volume":"126","year":"2004","journal-title":"ASME J. Biomech. Eng."},{"key":"2025061223272764900_bib14","first-page":"025001","article-title":"Design and Validation of a General Purpose Robotic Testing System for Musculoskeletal Applications","volume-title":"J. Biomech. Eng.","year":"2010"},{"issue":"3","key":"2025061223272764900_bib15","doi-asserted-by":"crossref","first-page":"1237","DOI":"10.1109\/TBME.2007.908072","article-title":"Gait Simulation Via a 6-DOF Parallel Robot With Iterative Learning Control","volume":"55","year":"2008","journal-title":"IEEE Trans. Biomed. Eng."},{"issue":"2","key":"2025061223272764900_bib16","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1007\/s001670050128","article-title":"Relative Contribution of the ACL, MCL, and Bony Contact to the Anterior Stability of the Knee","volume":"7","year":"1999","journal-title":"Knee Surg., Sports Traumatol., Arthroscopy"},{"issue":"3","key":"2025061223272764900_bib17","doi-asserted-by":"crossref","first-page":"279","DOI":"10.1016\/S0021-9290(99)00186-4","article-title":"Mechanical Validation of Whole Bone Composite Tibia Models","volume":"33","year":"2000","journal-title":"J. Biomech."},{"issue":"4","key":"2025061223272764900_bib18","doi-asserted-by":"crossref","first-page":"525","DOI":"10.1016\/0021-9290(95)00084-4","article-title":"Mechanical Validation of Whole Bone Composite Femur Models","volume":"29","year":"1996","journal-title":"J. Biomech."},{"issue":"3","key":"2025061223272764900_bib19","doi-asserted-by":"crossref","first-page":"613","DOI":"10.1007\/s10439-009-9887-7","article-title":"Mechanical Evaluation of Large-Size Fourth-Generation Composite Femur and Tibia Models","volume":"38","year":"2010","journal-title":"Ann. Biomed. Eng."},{"issue":"6","key":"2025061223272764900_bib20","doi-asserted-by":"crossref","first-page":"773","DOI":"10.1016\/S0021-9290(01)00015-X","article-title":"Structural Properties of a New Design of Composite Replicate Femurs and Tibias","volume":"34","year":"2001","journal-title":"J. Biomech."},{"issue":"2","key":"2025061223272764900_bib21","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1055\/s-0035-1564600","article-title":"Open Knee: Open Source Modeling and Simulation in Knee Biomechanics","volume":"29","year":"2015","journal-title":"J. Knee Surg."},{"key":"2025061223272764900_bib22","article-title":"Sensor Fusion Algorithm to Improve Accuracy of Robotic Superposition Testing Using 6-DOF Position Sensors","volume-title":"bioRxiv","year":"2024"},{"issue":"17","key":"2025061223272764900_bib23","doi-asserted-by":"crossref","first-page":"8719","DOI":"10.3390\/app12178719","article-title":"Review of Industrial Robot Stiffness Identification and Modelling","volume":"12","year":"2022","journal-title":"Appl. Sci."},{"issue":"4","key":"2025061223272764900_bib24","doi-asserted-by":"crossref","first-page":"554","DOI":"10.1109\/TRO.2004.842347","article-title":"Enhanced Stiffness Modeling, Identification and Characterization for Robot Manipulators","volume":"21","year":"2005","journal-title":"IEEE Trans. Rob."},{"key":"2025061223272764900_bib25","article-title":"Compliance Correction in a Robotic System","volume-title":"U.S. Patent No. 11745341B2","year":"2023"}],"container-title":["Journal of Biomechanical Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/asmedigitalcollection.asme.org\/biomechanical\/article-pdf\/147\/8\/081004\/7494543\/bio-24-1330.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/asmedigitalcollection.asme.org\/biomechanical\/article-pdf\/147\/8\/081004\/7494543\/bio-24-1330.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,12]],"date-time":"2025-06-12T23:27:38Z","timestamp":1749770858000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/biomechanical\/article\/147\/8\/081004\/1217239\/Analysis-and-Implications-of-Compliance-on-Joint"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,11]]},"references-count":25,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2025,8,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.4068634","relation":{},"ISSN":["0148-0731","1528-8951"],"issn-type":[{"value":"0148-0731","type":"print"},{"value":"1528-8951","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,6,11]]},"article-number":"081004"}}