Joint Rotation Angle Research Articles

Ligament reconstruction for distal radioulnar joint instability with the biomechanical analysis: A case report.

The aim of the study is to evaluate the clinical effects and feasibility on chronic distal radioulnar unstable joint (DRUJ) under wrist arthroscope triangular fibrocartilage complex (TFCC) repair and reconstruction. The biomechanical characteristics of the recovery process after treatment were analyzed using finite element modeling. A patient with chronic DRUJ instability was treated with reconstruction of the distal radioulnar ligament using the Adams Berger method. Piano sign and forearm rotation tests were used to evaluate the function of the DRUJ. Grip power, range of motion, and visual analog scale scores were recorded at the last follow-up. Joint function was evaluated by the disability of the arm, shoulder, and hand score. A geometric model for the surgical repair of TFCC damage, meshing in finite element simulation, and stress distribution of the repaired ligament during forearm rotation were analyzed by finite element simulation. The diagnosis was confirmed as chronic DRUJ instability. The patient had no postoperative complications and was followed-up for 6 months. Stability was achieved in all patients. The results of the stress and forearm rotation tests are negative. At the last follow-up, the grip power, disability of the arm, shoulder, and hand score, visual analog scale score, and range of motion of the wrist were significantly improved compared with the preoperative values (P < .05). TFCC repair and reconstruction under wrist arthroscopy can effectively treat chronic DRUJ and improve wrist function. Our study established a three-dimensional finite element model of the entire DRUJ, which provided a digital visual platform for simulating the biomechanical features of the TFCC, DRUJ, and other structures in different states. This study demonstrated that the rotation angle of the wrist joint should be confined within 75° for a short period after surgery to avoid tearing the tendon as a result of excessive force. It also provides an intuitive simulation tool for the design of TFCC repair and the evaluation of curative effects.

Influence of Joint Stiffness on Three-dimensional Deformation Mechanisms of Pipelines under Tunnel Active Face Instability

Although extensive research has been conducted in literature to investigate tunnelling effects on pipelines, the performance of existing jointed pipelines subjected to excessive tunnel movement has not been investigated. This study sets out to examine the effects of tunnel active instability on three-dimensional deformation patterns of existing pipelines using physical model tests. Tunnelling induced ground / pipeline settlement, joint rotation, and bending strain under various horizontal tunnel face movements are systematically explored. Results show that the tunnel face pressure at the active limit state is practically independent of tunnel cover to diameter ratio (C/D). Existing pipelines that fall within a range of 0.1 D ~ 0.5 D ahead of the tunnel face experience excessive settlements, significant bending strains and joint rotation. The measured peak settlement of pipelines at 0.3 D in front of the tunnel face exceeds the allowable limit, and the maximum settlements in the jointed pipeline are up to 2.67 times those observed in the continuous pipeline. Meanwhile, the joint rotation angle and settlement induced in the jointed pipeline are greatly affected by the C/D ratio and decrease by up to 55.5% and 22.0% with an increasing C/D ratio from 1.0 to 1.5.

Investigation of axis-fitting-based measurement and identification techniques for kinematic parameters in multi-joint industrial robots

To improve the positioning accuracy of industrial robots and meet the requirements of industrial applications, this study begins with the structural design of multi-jointed industrial robots and proposes a kinematic calibration method based on axis fitting. The proposed method introduces an axis fitting technique based on circle fitting. Utilizing the results of the axis fitting, a method for establishing link coordinate systems by referencing the Modified Denavit-Hartenberg (MD-H) model is presented. Subsequently, a kinematic parameter identification method is proposed. This study primarily investigates the impact of joint rotation angles on the accuracy of axis fitting. The study reveals that when the rotation angle is greater than or equal to 20°, the circularity of the circle fitting is less than 0.008 mm, and the planarity is less than 0.01 mm, indicating that the proposed fitting algorithm meets the required precision for small angle rotations. Finally, the positioning accuracy of the target robot is verified according to ISO 9283:1998. After calibration, the positioning accuracy at point P1 improves from 1.64 mm to 0.46 mm, an enhancement of 71.95 %, which is the most significant improvement. At point P2, the positioning accuracy improves from 1.75 mm to 0.69 mm, an enhancement of 60.5 %, which is the least improvement. The advantage of this method lies in its ability to identify kinematic parameters that align with the actual structure of the robot using a simple measurement method, thereby improving the robot's positioning accuracy.

Measurement Method of 3-D Rotation Angle of Spherical Joint Based on Neural Network and Magnetic Effect

Measurement Method of 3-D Rotation Angle of Spherical Joint Based on Neural Network and Magnetic Effect

Design and performance analysis of the 4UPS-RRR parallel ankle rehabilitation mechanism

Abstract. Ankle sprains are among the most common musculoskeletal injuries. Patients often require systematic rehabilitation training to expedite tissue healing and facilitate joint recovery. However, such training places high demands on medical staff, involves a lengthy process, requires considerable labor, and suffers from a shortage of skilled rehabilitation personnel. To address the need for effective ankle joint dysfunction rehabilitation training, this study analyzes the bone structure and movement mechanism of the ankle. Drawing on the parallel mechanism configuration, we propose a 4UPS-RRR parallel ankle rehabilitation mechanism. The rotation center of the rehabilitation mechanism can be highly coincident with the rotation center of the human ankle joint. The structure and degrees of freedom of the mechanism were designed and analyzed using screw theory. Additionally, a kinematic model of the mechanism was established. The mechanism's workspace was mapped by constraining the linear actuator length and spherical joint rotation angle. Furthermore, the mechanism's dexterity was assessed through the establishment of its Jacobian matrix, with the correctness of the kinematic model verified through simulation. Finally, an experimental platform was utilized to test the maximum range of robot motion, confirming the practicality of the ankle rehabilitation mechanism.

The diagnostic value of TT-TG and TT-ME distances in the assessment of patellofemoral instability.

This study aims to evaluate the application value of the tibial tubercle-trochlear groove distance (TT-TG distance) and tibial tubercle-midepicondyle distance (TT-ME distance) on CT images in patellofemoral instability, and further investigate the association between knee joint rotation angles and patellofemoral instability. We retrospectively analyzed CT image data of 59 patients with patellar dislocation (case group) and 39 normal knee joints (control group). We measured the TT-TG distance, TT-ME distance, and knee joint rotation angle (KJRA) of both groups, and the related indicators were analyzed using single-factor/multi-factor binary logistic stepwise regression analysis. Two senior radiologists were assigned to assess the inter-rater reliability. Interclass correlation coefficients (ICC) were calculated. Finally, we used receiver operating characteristic (ROC) curves to compare the diagnostic efficiency of these indicators in patellofemoral instability. The results found significant differences between both groups in terms of TT-TG distance, TT-ME distance, KJRA angle, age, location, and gender (P < 0.05). In terms of inter-rater reliability, TT-TG distance and TT-ME distance ratios showed an excellent correlation between observers (TT-TG inter-rater ICC 0.969, TT-ME inter-rater ICC 0.955). Univariate logistic regression analysis indicated that except for location and gender, all other factors significantly affected patellofemoral instability (P < 0.05). The multivariate logistic regression analysis revealed that the TT-ME distance, age, and KJRA angle were statistically significant factors related to patellofemoral instability, with TT-ME distance being a risk factor for patellofemoral instability (OR value 1.572, P value 0.000). Moreover, the ROC curve analysis demonstrated that the diagnostic capability of the TT-ME distance for detecting patellofemoral instability was higher than that of the TT-TG distance and KJRA (AUC were 0.912, 0.851, and 0.735, respectively). The TT-ME distance, age, and knee joint rotation angle are factors that affect patellofemoral instability. The TT-ME distance has better diagnostic efficiency for patellofemoral instability compared to the TT-TG distance and knee joint rotation angle.

Investigation into the effect of deltoid ligament injury on rotational ankle instability using a three-dimensional ankle finite element model.

Injury to the lateral collateral ligament of the ankle may cause ankle instability and, when combined with deltoid ligament (DL) injury, may lead to a more complex situation known as rotational ankle instability (RAI). It is unclear how DL rupture interferes with the mechanical function of an ankle joint with RAI. To study the influence of DL injury on the biomechanical function of the ankle joint. A comprehensive finite element model of an ankle joint, incorporating detailed ligaments, was developed from MRI scans of an adult female. A range of ligament injury scenarios were simulated in the ankle joint model, which was then subjected to a static standing load of 300N and a 1.5Nm internal and external rotation torque. The analysis focused on comparing the distribution and peak values of von Mises stress in the articular cartilages of both the tibia and talus and measuring the talus rotation angle and contact area of the talocrural joint. The dimensions and location of insertion points of ligaments in the finite element ankle model were adopted from previous anatomical research and dissection studies. The anterior drawer distance in the finite element model was within 6.5% of the anatomical range, and the talus tilt angle was within 3% of anatomical results. During static standing, a combined rupture of the anterior talofibular ligament (ATFL) and anterior tibiotalar ligament (ATTL) generates new stress concentrations on the talus cartilage, which markedly increases the joint contact area and stress on the cartilage. During static standing with external rotation, the anterior talofibular ligament and anterior tibiotalar ligament ruptured the ankle's rotational angle by 21.8% compared to an intact joint. In contrast, static standing with internal rotation led to a similar increase in stress and a nearly 2.5 times increase in the talus rotational angle. Injury to the DL altered the stress distribution in the tibiotalar joint and increased the talus rotation angle when subjected to a rotational torque, which may increase the risk of RAI. When treating RAI, it is essential to address not only multi-band DL injuries but also single-band deep DL injuries, especially those affecting the ATTL.

Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery

Abstract When performing microlaryngoscopic surgery, surgeons must maintain their arm positions for a long time, which can cause arm soreness and affect the success rate of surgery. In this study, a novel tendon-sheath-driven upper limb exoskeleton with elastic joints (TULEE) is proposed and developed to support the arms of doctors wearing the TULEE. The functional requirements of the TULEE were proposed according to the needs of microlaryngoscopic surgery, and the overall structure of the TULEE was designed. Then, the positive kinematics of the TULEE were derived based on the D–H transformation matrices, and the accuracy of the positive kinematic control was verified experimentally. The reachable workspace of the wrist joint of the TULEE was analyzed, and the dexterous workspace of the wrist was analyzed by using the condition number of the Jacobian matrix. The control strategy of the TULEE was proposed based on the principle of admittance control. Finally, an experimental prototype of the TULEE was built, and the feasibility of the control strategy was verified by a servo control experiment testing a single joint and a combined control experiment testing multiple joints. Through simulated surgical experiments, it was verified that TULEE can follow the wearer's arm movement, provide assistance for the wearer's arm movement in the following control mode, and lock the joint rotation angle in the steady-state control mode to reduce external disturbances and reduce the risk of unsuccessful surgery.

Kontrolišite ruku robota putem praćenja ljudskih ruku zasnovano na viziji

In this paper, hand tracking based on computer vision is developed to control the movement of a SCARA robot arm. The robot arm will move according to the movement of the human hand. Instead of using buttons on the teach-pendant or a computer control program to move the robot arm, the robot can now be easily controlled and positioned quickly by the movement of the operator's hand. A SCARA robot arm with two rotation joints and one translation motion is constructed for the validation system. Two states of the hand are recognized for controlling the vacuum cup to grasp the products. Stepper motors drive the robot arm. Arduino Uno is used as the main controller for controlling the stepper motors. The handtracking is performed by using the MediaPipe Hands framework developed by Google. The coordinates of 21 hand landmarks are extracted for further processing. A program is written on a personal computer to process the image to get the position and state of the hand. This position is transformed into the rotation angles of the robot's joints. Then, the angles and state are sent to the Arduino board. The Arduino board creates pulse signals to rotate the stepper motors. The experimental results show that the robot's trajectory is close to the hand trajectory at a low speed.

Meta-analysis of obesity on the outcome of rotator cuff repair

To systematically evaluate obesity on the outcome of rotator cuff repair. Literatures on the relationship between obesity and outcomes after rotator cuff repair were searched from PubMed, Embase, Cochrane Library, Web of Science, China biology medicine(CBM), CNKI, Wanfang and VIP databases from building database to August 1, 2022, and were screened independently by two authors according to inclusion and exclusion criteria. Endnote X9 and Excel 2019 were used for literature extraction, management and data entry, and Newcastle-Ottawa Scale (NOS) was used to evaluate quality of the included literatures. STATA 16.0 and RevMan 5.4 softwares were used to evaluate postoperative retear rate, reoperation rate, complication rate, American Shoulder and Elbow Surgeons (ASES) score, visual analogue scale (VAS), operative time and external rotation angle of shoulder joint pain were analyzed. Totally 13 literatures were included, including 6 retrospective studies, 5 case-control studies, 1 prospective cohort study, and 1 abstract of a study for which the full text was not available, with 85 503 patients (31 973 in obese group and 53 530 in non-obese group). Meta-analysis showed there were statistical differences between two groups in retear rate [OR=2.58, 95%CI(1.23, 5.41), P=0.01], reoperation rate[OR=1.31, 95%CI(1.21, 1.42), P<0.00], complication rate [OR=1.57, 95%CI(1.31, 1.87), P=0.00], ASES score[MD=-3.59, 95%CI(-5.45, -1.74), P=0.00], and VAS[MD=0.24, 95%CI(0.00, 0.49), P=0.05]. While there were no differences between two groups in operative time[MD=6.03, 95%CI(-7.63, 19.69), P=0.39], external rotation angle of shoulder joint[MD=-1.79, 95%CI(-5.30, 1.71), P=0.32]. Obesity is associated with higher rates of retear, resurgery, complications, poorer shoulder function and pain after rotator cuff repair.

A Novel Combined Method for Measuring the Three-Dimensional Rotational Angle of a Spherical Joint.

To improve the measurement accuracy of the three-dimensional rotation angle of a spherical joint, a novel approach is proposed in this study, which combines magnetic detection by a Hall sensor and surface feature identification by an eddy current sensor. Firstly, a permanent magnet is embedded in the ball head of a spherical joint, and Hall sensors are set and distributed in the ball socket to measure the variation in the magnetic flux density when the spherical joint rotates, which are related to the 3D rotation angle. In order to further improve the measurement accuracy and robustness, we also set grooves on the ball head and use eddy current sensors to synchronously identify the rotation angle of the ball head. After the combination of two signals is performed, a measurement model is established using the RBF neural network by training, and the real-time measurement of the 3D rotation angle of the spherical joint is realized. The feasibility and superiority of this method are validated through experiments. The experimental results indicate that the measurement accuracy is substantially promoted compared to the preliminary measurement scheme based on spherical coding; the average measurement error of the single axis is reduced by 9'9″. The root mean square errors for the measurements of the 3D rotation angles in this proposed method are as follows: pitch angle α has an error of 1'8″, yaw angle β has an error of 2'15″, and roll angle γ has an error of 29'6″.

Margin of bearing capacity of one-way straight mortise-tenon joints based on inspection of apparent damage and rotation angle

In essence, safety evaluation of damaged mortise-tenon joints (MJs) involves checking whether the joints have sufficient residual bearing capacity. However, the load, which is necessary in the calculation process, is difficult to observe in practice, resulting in insufficient reliability of the evaluation results. Thus, this study proposes the concept of a margin of bearing capacity (MBC) of an MJ and presents a calculation method for assessing the safety of one-way straight mortise-tenon joints (OSMJs). In the calculating process, the load was replaced with the observed apparent damage and rotation angle. First, the MBC includes the influence of joint damage and rotation angle on the residual moment bearing capacity of the joint. Second, the apparent damage to an OSMJ is simplified to average section loss rates in the height and width directions, which reduces the amount and difficulty of data acquisition. Third, the damage model of an OSMJ included in the proposed calculation method establishes the transforming relationship between the measured average section loss rate and the damage setting on the model, and avoids the influence of uneven distribution of the actual size reduction on the calculation of the residual moment bearing capacity. The results of unidirectional pushover tests of several damaged and intact OSMJ models showed that most absolute errors between the calculated and measured MBCs were less than 0.04, indicating the accuracy of the proposed method for practical safety assessment of damaged OSMJs.

Development and experimental validation of a humanoid pedestrian model that captures stepping behavior and body rotation

This paper presents a novel humanoid pedestrian model (HPM) incorporating stepping behavior and body rotation. The HPM is composed of two main components: (a) body modeling and (b) gait planning. A pedestrian is represented as a three-dimensional skeleton with 11 degrees of freedom in the body modeling component, which provides a universal approach for explaining the mathematical correlations between joint rotation angles and critical gait parameters such as step length, step width, and projected shoulder width. A framework for designing gaits that accounts for step-synchronization behavior and the effect of body rotation on stepping behavior is offered by the gait planning process. To validate the model, two types of experiments were conducted: nine sets of single-file experiments and 10 sets of bidirectional flow experiments, in which pedestrians walked in a 0.5-m-wide circular corridor and rotated their bodies to avoid collisions. It was suggested by the fundamental diagrams that body rotation reduces the walking speed of a pedestrian and consequently affects the overall flow rate. Furthermore, it was found that pedestrians were more resistant to moving forward in narrow bidirectional flow environments and tend to wait for a larger gap in front to take a longer or faster step. This behavior led to the formation of stop-and-go waves in the narrow-corridor scenario. The simulation results were consistent with the experimental findings in terms of flow-density relationships and the reproduction of stop-and-go waves. Additionally, synchronized steps were detected in the simulation and quantitatively compared with a publicly available dataset. The HPM offers a new perspective on modeling pedestrian dynamics and emphasizes the necessity of accounting for micro-characteristics at the step level in pedestrian models.

Modeling and consensus of flexible wings with bending deformation and torsion deformation based on partial differential equation model

Modeling and consensus control of flexible wings with bending deformation and torsion deformation are studied in this paper. Due to the physical properties of flexible materials, vibration suppression of the flexible wings is also considered in addition to consensus control. Different from most of the published work of multi-agent control theory, the agent system studied in this paper is a distributed parameter system. Considering the mutual coupling of the wing's bending deformation, torsion deformation and the rotation angle of the root joint, the dynamics model of each agent can be expressed by a set of partial differential equations (PDEs) and ordinary differential equations (ODEs). Boundary control algorithms are designed to achieve control objectives. It is proved that the states of all agents are consistent and the closed-loop system is asymptotically stable. Finally, numerical simulation is carried out to demonstrate the effectiveness of the proposed control scheme.

Research on the cable-driven endoscopic manipulator for fusion reactors

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.

Kinetic Variables of Lower-Extremity Joint during Forward Jump Landing with Versus without Elastic Ankle Strap

PURPOSE This study aimed to investigate the effect of an ankle strap on kinetic variables of the lower limb during forward jump landing.METHODS Twelve healthy adult men (mean age, 23.58±2.22 years; mean height, 177.83±5.37 cm; mean weight, 75.00±7.72 kg) participated. The participants stood barefoot on both legs at a horizontal distance of 40% of their body height from the center of the force plate, then jumped forward and landed on the force plate with their dominant or non-dominant leg over a 30-cm hurdle while wearing or not wearing an ankle strap. Joint angle, peak vertical force, loading rate, and leg stiffness were calculated. Paired t-test and repeated-measures two-way analysis of variance with Bonferroni’s post hoc tests were used to compare the characteristics of both lower limbs and the effect of wearing an ankle strap. The significance level was α &lt; .05RESULTS Our results showed significant differences in kinematic variables between the dominant and non-dominant legs without the ankle strap. With the ankle strap, the inversion angles at the ankle joints of both lower extremities were significantly decreased, and an interaction effect between both legs and the ankle strap occurred in the internal rotation angle of the ankle joint. Kinetic variables did not differ significantly.CONCLUSIONS The ankle strap did not completely compensate for ankle instability in the non-dominant leg, but it significantly reduced the angle of internal rotation at the ankle joint. Thus, we recommend that correct wearing of the ankle strap in sports since it reduces the possibility of lateral ankle sprains to some extent.

Artificial Neural Networks for inverse kinematics problem in articulated robots

The inverse kinematics problem in articulated robots implies to obtain joint rotation angles using the robot end effector position and orientation tool. Unlike the problem of direct kinematics, in inverse kinematics there are no systematic methods for solving the problem. Moreover, solving the inverse kinematics problem is particularly complicated for certain morphologies of articulated robots. Machine learning techniques and, more specifically, artificial neural networks (ANNs) have been proposed in the scientific literature to solve this problem. However, there are some limitations in the performance of ANNs. In this study, different techniques that involve ANNs are proposed and analyzed. The results show that the proposed original bootstrap sampling and hybrid methods can substantially improve the performance of approaches that use only one ANN. Although all of these improvements do not solve completely the inverse kinematics problem in articulated robots, they do lay the foundations for the design and development of future more effective and efficient controllers. Therefore, the source code and documentation of this research are also publicly available to practitioners interested in adapting and improving these methods to any industrial robot or articulated robot.

Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix

In this paper, an adaptive motion planning method is proposed for the control requirements of the China Fusion Engineering Test Reactor multipurpose overload robot (CMOR). Firstly, a kinematic model of CMOR is established by Denavit-Hartenberg method, and the working process of entering and leaving the vacuum chamber to complete the maintenance operation is analyzed. An iterative tractrix-based motion planning method is proposed by expanding the basic principle of tractrix. Assuming that the CMOR any link has two mutually perpendicular degrees of freedom to achieve spatial motion capability, a more natural and smooth movement of the CMOR is achieved by recursive operations on the tractrix traction. To accelerate the calculation process and avoid each joint rotation angle of CMOR exceeding the set value, a bidirectional iterative tractrix method and a joint limit rotation angle optimization method based on the bidirectional iterative tractrix method are proposed to improve the convergence speed and motion safety. Finally, a CMOR visualization simulation system is built, and the results show that the CMOR adaptive motion planning method can effectively track the target trajectory and avoid joint rotation angle overrun.

A new approach for evaluating continuous and discontinuous pipeline deformation induced by soil tunnel excavation

The deformation of the overlying pipeline caused by the soil tunnel excavation cannot be ignored in the case of the small spacing between the pipeline and the tunnel. Based on the rigid bar method, the pipeline-soil interaction model was established, with the simply supported beam as the basic system, and the loads acting on the pipeline by the soil are considered to be linearly distributed. Calculation methods for continuous and discontinuous pipeline deformations were established. The results calculated by the proposed method agree well with the experimental data of centrifuge tests and field data. Parametric study on the effect of the volume loss (η = 1%, 2%,3 %), rotational stiffness (β0 = 4.47 × 106N⋅m/rad, 4.47 × 108N⋅m/rad, 4.47 × 1010N⋅m/rad), ratio of pipeline section length to inflection point of soil settlement curve (L/is = 0.5, 1.0, 1.5, 2.0) and soil elastic modulus (E = 10 MPa, 30 MPa, 50 MPa) on the deflection and joint rotation angle of the discontinuous pipeline were carried out. Results show that: (1) the maximum pipeline deflection and the maximum rotation angle of the joint increase as η increases and decrease as β0 increases; (2) in the "odd" case, the maximum pipeline deflection and the maximum rotation angle of the joint first increase and then decrease as L/is increases, reaching a peak at L/is = 1.5, while in the "even" case, the maximum pipeline deflection decreases as L/is increases and the maximum rotation angle of the joint first increases and then decreases as L/is increases; (3) in the "odd" case, the maximum pipeline deflection and the maximum angle of rotation of the joint decrease as E increases, while the opposite trend is observed in the "even" case. Additionally, the maximum pipeline deflection and the maximum rotation angle of the joint are always greater in the "odd" case than that in the "even" case.

Influence of weight-bearing on the 3D movement of lumbar facet joints in the sitting position

ObjectiveTo analyze the motion characteristics of lumbar facet joints and to observe the effect of weight-bearing on lumbar facet joints in the sitting position.MethodsTen normal subjects (5 males and 5 females) were recruited and scanned by CT, and their lumbar 3D models were reconstructed by software. The images of flexion and extension of lumbar facet joints in the sitting position were collected without weight-bearing and weight-bearing 10 kg, and the 2D model was constructed by software. The 2D-3D model was matched to restore the flexion and extension motion changes of the subjects’ lumbar spine in the sitting position. Coordinates were established in the middle of the vertebral body and copied to the facet joints. Measure and record the lumbar facet joint movement distance through coordinate system. The relevant data of facet joints were collected.ResultsIn the L3/4 segment, after weight loading, the displacement of the left facet joint in the X axis became larger, while that in the Y axis and Z axis decreased. The displacement of the right facet joint in the X axis and Y axis increased, and the Z axis displacement decreased. The rotation angle of the bilateral facet joints also decreased. In the L4/5 segment, after loading, the displacements of the X, Y, and Z axis displacements of both sides increase, while the rotation angles of α and β increase, while the rotation angle of γ decreases. In the L5/S1 segment, the displacements of the X, Y, and Z axes on the left side decrease. The displacement of the X and Y axes on the right side decreases, while the displacement on the Z axis increases. The rotation angles of α and γ increase, and the rotation angle of the β axis decreases.ConclusionWhen sitting, the flexion and extension distance and rotational displacement of lumbar facet joints are not affected by weight-bearing. In addition, there is asymmetry in the movement of the left and right facet joints, and weight bearing has no effect on the asymmetry of the motion.