US Patent 10383578 Analysis system and method for determining joint equilibrium position

A method comprises obtaining rotational data and translational data for a joint. The rotational and translational data is indicative of rotational and translational movement of the joint during rotational and translational joint testing, respectively. The rotational and translational joint testing is implemented by a robotic testing apparatus. Respective zero torque points are determined for the rotational and translational movement based on the rotational data and the translational data. The respective zero torque points are combined for the rotational and translational movement to determine an equilibrium position for the joint. A biomechanical characteristic of the joint is ascertained based on an analysis of the equilibrium position.