中文版 | English
Title

Human-Exoskeleton Misalignment Reduction on Knee Joint via an RPR Mechanism-Based Device

Author
DOI
Publication Years
2022
Conference Name
7th IEEE International Conference on Advanced Robotics and Mechatronics
ISBN
978-1-6654-8307-0
Source Title
Pages
45-50
Conference Date
9-11 July 2022
Conference Place
Guilin, China
Publication Place
345 E 47TH ST, NEW YORK, NY 10017 USA
Publisher
Abstract
Lower-limb exoskeleton plays an increasingly significant role in robot-assisted rehabilitation, and the human-exoskeleton knee joint misalignment is one of the common safety concerns that obstruct the wearer's natural movement and even causes injuries. Most exoskeletons utilize a single revolute knee joint, which cannot sufficiently realize the human knee motion. Hence, the leading challenge to reduce misalignment is to precisely measure and reconstruct the wearer's knee joint motion in the sagittal plane. Towards this research goal, a wearable device with a revolute-prismatic-revolute ( RPR) mechanism has been designed to measure the wearer's natural knee-joint movement and determine the exoskeleton's knee-joint trajectory for better matched human-robot interaction. The RPR device features flexible adjustments to different wearer sizes. The measuring precision was validated via an optical motion capture system, and the non-interfering of natural walking was also verified. The efficacy of misalignment reduction was evaluated utilizing a simulation study based on kinematic calculations, demonstrating a reduced misalignment by 51% compared to conventional single revolute joints.
Keywords
SUSTech Authorship
First
Language
English
URL[Source Record]
Indexed By
Funding Project
National Natural Science Foundation of China[61903181] ; Shenzhen Key Laboratory of Smart Healthcare Engineering[ZDSYS20200811144003009] ; Research Foundation of Guangdong Province["2020ZDZX3001","2019ZT08Y191","2022B1212010003"]
WOS Research Area
Automation & Control Systems ; Engineering ; Robotics
WOS Subject
Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics
WOS Accession No
WOS:000926398000008
Data Source
IEEE
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959600
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/418646
DepartmentDepartment of Mechanical and Energy Engineering
工学院_生物医学工程系
Affiliation
1.Department of Mechanical and Energy Engineering of, Southern University of Science and Technology, Shenzhen, Guangdong, China
2.Department of Biomedical Engineering, Shenzhen Key Laboratory of Smart Healthcare Engineering and Guangdong Provincial Key Laboratory of Advanced Biomaterials, Southern University of Science and Technology Nanshan District, Shenzhen, China
First Author AffilicationDepartment of Mechanical and Energy Engineering
First Author's First AffilicationDepartment of Mechanical and Energy Engineering
Recommended Citation
GB/T 7714
Cunxi Dai,Peiwen Fu,Bin Zhong,et al. Human-Exoskeleton Misalignment Reduction on Knee Joint via an RPR Mechanism-Based Device[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:45-50.
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