The study of the natural dynamic behavior of the knee is fundamental for the design of medical devices. In vivo tests allow the evaluation of the joint behavior on a patient, but require the use of complex (fluoroscopy), invasive (intracortical pins), or inaccurate (skin markers) techniques. In vitro tests overcome these problems, since allow all motion components to be precisely measured by trackers fixed to the bones. Moreover, medical devices can be tested during the design process and before the real implant on a patient. Conversely, loading conditions have to be reproduced on specimens and muscle activation patterns cannot be measured.

Several devices for in vitro tests have been proposed to replicate the in vivo loading conditions of the knee, such as the Oxford knee rig (OKR) type [1] and robot-based systems [2]. Both types allow six degrees of freedom (6DOFs)...

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