TFRR: A Novel Tensegrity-Based Fracture Reduction Robot with Force Sensing

Abstract

This paper proposes a novel Tensegrity-Based Fracture Reduction Robot (TFRR) designed to enhance the safety and efficacy of orthopedic procedures through integrated force-sensing and control capabilities. Inspired by the biomechanics of skeletal muscles, the robot adopts a tensegrity architecture that enables real-time monitoring of internal force distribution and dynamic adjustment of posture and inter-bone contact forces via controlled tensioning of its string network. To establish a theoretical foundation for system control, a comprehensive static analysis of the tensegrity structure is conducted, allowing accurate modulation of topological configurations through systematic tension control. Extensive experimental validation demonstrates the robustness and reliability of the proposed method across a range of operating conditions. In particular, targeted experiments on contact-force regulation confirm the robot’s ability to precisely monitor and adjust inter-bone forces during fracture reduction. These features collectively enable safer, more controlled surgical interventions, with the potential to reduce tissue trauma and improve clinical outcomes.