The wide-open three-legged parallel robot for long-bone fracture reduction

Mohammad H. Abedinnasab, Farzam Farahmand, Jaime Gallardo-Alvarado

Research output: Contribution to journalArticlepeer-review

19 Scopus citations


Robotic reduction of long bones is associated with the need for considerable force and high precision. To balance the accuracy, payload, and workspace, we have designed a new six degrees-offreedom three-legged wide-open robotic system for long-bone fracture reduction. Thanks to the low number of legs and their nonsymmetrical configuration, the mechanism enjoys a unique architecture with a frontally open half-plane. This facilitates positioning the leg inside the mechanism and provides a large workspace for surgical maneuvers, as shown and compared to the well-known Gough-Stewart platform. The experimental tests on a phantom reveal that the mechanism is well capable of applying the desired reduction steps against the large muscular payloads with high accuracy.

Original languageEnglish (US)
Article number015001
JournalJournal of Mechanisms and Robotics
Issue number1
StatePublished - Feb 1 2017

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering


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