Comparative Analysis of Cutting Forces, Torques, and Vibration in Drilling of Bovine, Porcine, and Artificial Femur Bone with Considerations for Robot Effector Stiffness

Table 1

Prior bone fracture mechanics properties test and values according to [21, 22].

Bone type	Shear strength (Mpa)	KC (Mpa m^1/2)	Specific heat (J/kg K)	Energy required	Speed	Test-type
Bovine bone	65–71	3.21	2.58	GJC = 1.4–2.6	Slow	SENT
Human bone	82	2.4–5.3	1150	–	Slow	CT
Pig bone	75	–	1330	–	Slow	CT