“…Horizontal knee joint simulators are particularly characterised by the horizontal position of the knee joint specimens (Blankevoort et al, 1988; Hirokawa et al, 1991; Torzilli et al, 1994; Bach and Hull, 1995; Dürselen et al, 1995; Omori et al, 1997; Ahmad et al, 1998; Kiguchi et al, 1999; Stukenborg-Colsman et al, 2002b; Hofer et al, 2011). Typically, the femur or the tibia is fixed to the simulator base or to a moveable swing arm, which is responsible for the flexion and extension movements, whereas the opposite side provides all necessary degrees of freedom (Heinrichs et al, 2017). Robotic arm systems (Rudy et al, 1996; Livesay et al, 1997; Li et al, 1999; Lo et al, 2008; Diermann et al, 2009; Goldsmith et al, 2013) are comparable to horizontal simulators, but the knee joint is moved along a previously determined passive motion path in which all external forces and moments acting on the knee joint are minimal (Lorenz et al, 2013).…”