{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T02:32:47Z","timestamp":1772159567062,"version":"3.50.1"},"reference-count":23,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T00:00:00Z","timestamp":1701734400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"PAVIC Laboratory, University of Acre, Brazil"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Notable efforts have been devoted to the development of biomechanical models of the spine, so the development of a motion system to control the spine becomes expressively relevant. This paper presents a fuzzy controller to manipulate the movement of a 3D robotic mechanism of the lumbar spine, which is driven by tendons. The controller was implemented in Matlab\/Simulink R2023a software, MathWorks (Brazil), considering mathematical modeling based on the Lagrangian methodology for simulating the behavior of the lumbar spine dynamic movement. The fuzzy controller was implemented to perform movements of two joints of the 3D robotic mechanism, which consists of five vertebrae grouped into two sets, G1 and G2. The mechanism\u2019s movements are carried out by four servomotors which are driven by readings from two sensors. For control, the linguistic variables of position, velocity and acceleration were used as controller inputs and the torque variables were used for the controller output. The experimental tests were carried out by running the fuzzy controller directly on the 3D physical model (external to the simulation environment) to represent flexion and extension movements analogous to human movements.<\/jats:p>","DOI":"10.3390\/s23249633","type":"journal-article","created":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T08:09:17Z","timestamp":1701763757000},"page":"9633","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Fuzzy Controller Implemented for Movement of a Tendon-Driven 3D Robotic Lumbar Spine Mechanism"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5563-8971","authenticated-orcid":false,"given":"Thuanne","family":"Paix\u00e3o","sequence":"first","affiliation":[{"name":"PAVIC Laboratory, University of Acre (UFAC), Rio Branco 69915-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3403-8261","authenticated-orcid":false,"given":"Ana Beatriz","family":"Alvarez","sequence":"additional","affiliation":[{"name":"PAVIC Laboratory, University of Acre (UFAC), Rio Branco 69915-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9833-0213","authenticated-orcid":false,"given":"Ruben","family":"Florez","sequence":"additional","affiliation":[{"name":"LIECAR Laboratory, Universidad Nacional de San Antonio Abad del Cusco (UNSAAC), Cuzco 08003, Peru"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5947-6682","authenticated-orcid":false,"given":"Facundo","family":"Palomino-Quispe","sequence":"additional","affiliation":[{"name":"LIECAR Laboratory, Universidad Nacional de San Antonio Abad del Cusco (UNSAAC), Cuzco 08003, Peru"}]}],"member":"1968","published-online":{"date-parts":[[2023,12,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"985248","DOI":"10.1155\/2013\/985248","article-title":"The robotic lumbar spine: Dynamics and feedback linearization control","volume":"2013","author":"Karadogan","year":"2013","journal-title":"Comput. Math. Methods Med."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"218","DOI":"10.1016\/j.jcot.2018.08.006","article-title":"Current status of 3D printing in spine surgery","volume":"9","author":"Garg","year":"2018","journal-title":"J. Clin. Orthop. Trauma"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1766","DOI":"10.1016\/j.apmr.2013.02.023","article-title":"Effects of stimulating hip and trunk muscles on seated stability, posture, and reach after spinal cord injury","volume":"94","author":"Triolo","year":"2013","journal-title":"Arch. Phys. Med. Rehabil."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Swain, C.T., Pan, F., Owen, P.J., Schmidt, H., and Belavy, D.L. (2020). No consensus on causality of spine postures or physical exposure and low back pain: A systematic review of systematic reviews. J. Biomech., 102.","DOI":"10.1016\/j.jbiomech.2019.08.006"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"62","DOI":"10.31181\/rme200103062e","article-title":"Convergence analysis and validation of a discrete element model of the human lumbar spine","volume":"3","author":"Eremina","year":"2022","journal-title":"Rep. Mech. Eng."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Turbucz, M., Pokorni, A.J., Sz\u0151ke, G., Hoffer, Z., Kiss, R.M., Lazary, A., and Eltes, P.E. (2022). Development and Validation of Two Intact Lumbar Spine Finite Element Models for In Silico Investigations: Comparison of the Bone Modelling Approaches. Appl. Sci., 12.","DOI":"10.3390\/app122010256"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"103643","DOI":"10.1016\/j.robot.2020.103643","article-title":"Fuzzy controlled humanoid robots: A literature review","volume":"134","author":"Kahraman","year":"2020","journal-title":"Robot. Auton. Syst."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"El-Khatib, M.F., and Maged, S.A. (2021, January 26\u201327). Low level position control for 4-DOF arm robot using fuzzy logic controller and 2-DOF PID controller. Proceedings of the 2021 International Mobile, Intelligent, and Ubiquitous Computing Conference (MIUCC), Cairo, Egypt.","DOI":"10.1109\/MIUCC52538.2021.9447617"},{"key":"ref_9","unstructured":"Angst, L.R. (2022). Constru\u00e7\u00e3o e Valida\u00e7\u00e3o de um Modelo Experimental da Cinesiologia da Coluna Lombar Humana. [Master\u2019s Thesis, UFAC]."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Paix\u00e3o, T., Alvarez, A.B., Florez, R., and Palomino-Quispe, F. (2023, January 12\u201314). Motion control of a robotic lumbar spine model. Proceedings of the International Work-Conference on Bioinformatics and Biomedical Engineering, Gran Canaria, Spain.","DOI":"10.1007\/978-3-031-34953-9_16"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Paix\u00e3o, T., Alvarez, A.B., Florez, R., Palomino-Quispe, F., Angst, L., and Maggi, L. (2023, January 22\u201325). Development of Simplified Lumbar Spine Mechanism Implemented with Tendon-Driven Motion. Proceedings of the 2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR), Miedzyzdroje, Poland.","DOI":"10.1109\/MMAR58394.2023.10242466"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Kakehashi, Y., Okada, K., and Inaba, M. (July, January 15). Development of Continuum Spine Mechanism for Humanoid Robot: Biomimetic Supple and Curvilinear Spine Driven by Tendon. Proceedings of the 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA.","DOI":"10.1109\/RoboSoft48309.2020.9116005"},{"key":"ref_13","first-page":"e4440","article-title":"A feasibility study for the production of three-dimensional-printed spine models using simultaneously extruded thermoplastic polymers","volume":"11","author":"Clifton","year":"2019","journal-title":"Cureus"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1177\/2192568219858981","article-title":"Range of motion testing of a novel 3D-printed synthetic spine model","volume":"10","author":"Bohl","year":"2020","journal-title":"Glob. Spine J."},{"key":"ref_15","first-page":"e3893","article-title":"Biomechanical testing of a 3D-printed L5 vertebral body model","volume":"11","author":"Bohl","year":"2019","journal-title":"Cureus"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"70","DOI":"10.15406\/mojabb.2019.03.00106","article-title":"Biomechanical evaluation of a full-length (T12-S) synthetic lumbar spine model","volume":"3","author":"DiAngelo","year":"2019","journal-title":"MOJ Appl. Bionics Biomech."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1007\/s00776-015-0706-8","article-title":"Application of the polystyrene model made by 3-D printing rapid prototyping technology for operation planning in revision lumbar discectomy","volume":"20","author":"Li","year":"2015","journal-title":"J. Orthop. Sci."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"433","DOI":"10.21037\/jss.2017.09.01","article-title":"Systematic review of 3D printing in spinal surgery: The current state of play","volume":"3","author":"Wilcox","year":"2017","journal-title":"J. Spine Surg."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"171","DOI":"10.4184\/asj.2018.12.1.171","article-title":"A review of current clinical applications of three-dimensional printing in spine surgery","volume":"12","author":"Cho","year":"2018","journal-title":"Asian Spine J."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Urrea, C., Kern, J., and Alvarado, J. (2020). Design and evaluation of a new fuzzy control algorithm applied to a manipulator robot. Appl. Sci., 10.","DOI":"10.3390\/app10217482"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Bikova, M., Latkoska, V.O., Hristov, B., and Stavrov, D. (2022, January 27\u201330). Path Planning Using Fuzzy Logic Control of a 2-DOF Robotic Arm. Proceedings of the 2022 IEEE 17th International Conference on Control & Automation (ICCA), Naples, Italy.","DOI":"10.1109\/ICCA54724.2022.9831903"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"E481","DOI":"10.1097\/BRS.0000000000003379","article-title":"Characterization of sagittal spine alignment with reference to the gravity line and vertebral slopes: An analysis of different roussouly curves","volume":"45","author":"Hey","year":"2020","journal-title":"Spine"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Mitchell, T., O\u2019Sullivan, P.B., Burnett, A.F., Straker, L., and Smith, A. (2008). Regional differences in lumbar spinal posture and the influence of low back pain. BMC Musculoskelet. Disord., 9.","DOI":"10.1186\/1471-2474-9-152"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/24\/9633\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T21:33:26Z","timestamp":1760132006000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/24\/9633"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,5]]},"references-count":23,"journal-issue":{"issue":"24","published-online":{"date-parts":[[2023,12]]}},"alternative-id":["s23249633"],"URL":"https:\/\/doi.org\/10.3390\/s23249633","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,5]]}}}