Kinematic analysis and optimization of a planar parallel compliant mechanism for self-alignment knee exoskeleton
-
Published:2018-11-20
Issue:2
Volume:9
Page:405-416
-
ISSN:2191-916X
-
Container-title:Mechanical Sciences
-
language:en
-
Short-container-title:Mech. Sci.
Author:
Niu Yijun, Song ZhibinORCID, Dai Jiansheng
Abstract
Abstract. Misalignment between the instantaneous center of rotation (ICR) of human joint and the ICR of wearable robotic exoskeleton widely exists among most of exoskeletons widely used in rehabilitation, which results in discomfort, even endangers human safety. In order to alleviate it, this study focuses on the solution of misalignment in knee joint of lower limb exoskeletons, and proposes a compliant five-bar parallel mechanism, which offers two mobility in sagittal plane, as well as the torsional springs mounted on this mechanism, have the potential to automatically adjust the ICR of output link connected to thigh with respect to the basis link connected to shank. To reach this goal, we build the stiffness model of the mechanism and optimize its variables. And the self-alignment of the compliant five-bar parallel mechanism is verified via experimental investigations.
Funder
National Natural Science Foundation of China
Publisher
Copernicus GmbH
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Reference33 articles.
1. Accoto, D., Sergi, F., Tagliamonte, N. L., Carpino, G., Sudano, A., and Guglielmelli, E.: Robomorphism: a nonanthropomorphic wearable robot, IEEE Robot. Autom. Mag., 21, 45–55, 2014. 2. Aguirre-Ollinger, G., Colgate, J. E., Peshkin, M. A., and Goswami, A.: Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation, Int. J. Robot. Res., 30, 486–499, https://doi.org/10.1177/0278364910385730, 2011. 3. Akiyama, Y., Yamada, Y., Ito, K., Oda, S., Okamoto, S., and Hara, S.: Test method for contact safety assessment of a wearable robot-analysis of load caused by a misalignment of the knee joint, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, 539–544, https://doi.org/10.1109/ROMAN.2012.6343807, 2012. 4. Andriacchi, T. P., Alexander, E. J., Toney, M. K., Dyrby, C., and Sum, J.: A point cluster method for in vivo motion analysis: applied to a study of knee kinematics, J. Biomech. Eng., 120, 743–749, 1998. 5. Cai, D., Bidaud, P., Hayward, V., and Gosselin, F.: Design of self-adjusting orthoses for rehabilitation, Proceedings of the 14th IASTED International Conference Robotics and Applications, Cambridge, MA, USA, 2–4 November 2009, 215–223, 2009.
Cited by
20 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
|
|