Fig. 3From: Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing systemConfiguration of the robot-based joint-testing system (RJTS). With the RJTS developed in the current study for testing the knee joint, the tibia was fixed to the 6-component force sensor (UFS) attached to the effector of the robot, while the femur was rigidly fixed to the ground via a metal frameBack to article page