Development of Simplified Lumbar Spine Mechanism Implemented with Tendon-Driven Motion

Abstract

The lumbar region of the spine has important characteristics for the investigation of pathological dysfunctions, where the major abnormalities present in the spine are caused. This paper presents the development and implementation of a controlled and simplified lumbar spine mechanism. The construction was done using 3D Slicer, SolidWorks and Ultimaker Cura software. The control action is based on a motion trajectory system realized with conventional, PID-type control. The physical implementation of the motion drive was performed and results show the correct execution of the planned movements, following the references specified for the movement of the structure.