articleIEEE Transactions on Automation Science and EngineeringJan 1, 2026Closed access

Trajectory Planning Method for Fracture Reduction of Parallel Robots Based on DMP and APF

TSTingting SuYZYue ZhangXLXu LiangNMNan Ma

Beijing University of Technology · Beijing Jiaotong University

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Abstract

The operation of tibial fracture reduction is complex and may involve risks of iatrogenic injuries due to fatigue or insufficient experience of the surgeon. Therefore, this paper proposes a tibial fracture reduction trajectory planning method based on dynamic movement primitives (DMP) and artificial potential fields (APF) to avoid the collision between the distal and proximal fracture fragments during the reduction process and to achieve safe tibial fracture reduction. First, DMP is used to learn the motion characteristics from the orientation demonstration trajectory, generating a new orientation trajectory for the distal fracture fragment. Second, DMP with an obstacle avoidance mechanism based on APF is used…

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6
total citations
FWCI
51.25
Percentile
100%
References
26
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4

Topics & keywords

Topics
Keywords
  • Trajectory
  • Reduction (mathematics)
  • Orientation (vector space)
  • Position (finance)
  • Robot
  • Obstacle avoidance
  • Control theory (sociology)
  • Fracture (geology)
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