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Applied Bionics and Biomechanics
Volume 3, Issue 1, Pages 43-48

Robotic Measurement and Control for Chiropractic Research

P. Goldsmith,1 S. Wynd,1 and G. Kawchuk2

1University of Calgary, 2500 University Drive NW, Calgary, Alberta, Canada T2N 1N4
2University of Alberta, 114 St - 89 Ave, Edmonton, Alberta, Canada T6G 2E1

Copyright © 2006 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective.