Fig. 2

Robotic system. The testing system used in this study consists of a six-degree-of-freedom (6 DOF) manipulator with a 6 DOF universal force/moment sensor. Photograph of stifle joint installed in a robotic system. The femoral side of the robot controls the three translations (medial–lateral, cranial–caudal, proximal–distal), and the tibial side of the robot controls the three rotational movements (flexion–extension, internal–external, varus–valgus)