Table 1 Definition of mechanical properties of tissues in the knee model

Bone

Isotropic elastic

Young’s modulus = 0.4 GPa, Poisson’s ratio v = 0.33

Cartilage

Isotropic elastic

Young’s Modulus = 5 MPa, Poisson’s ratio v = 0.46

Menisci

Orthotropic elastic

E_θ = 125 MPa, E_R = E_Z = 27.5 MPa, G_θR = G_θZ = 2 MPa, G_RZ = 10.34, V_θR = V_θZ = 0.1, V_RZ = 0.33

ACL

Isotropic hyperelastic

Veronda-Westmann: α = 0.3 MPa, β = 12.20

PCL

Isotropic hyperelastic

Veronda-Westmann: α = 0.18 MPa, β = 17.35

MCL and LCL

Isotropic hyperelastic

Mooney-Rivlin: C1 = 30.1 MPa, C2 = − 27.1 MPa