A novel prosthetic knee joint with a parallel spring and damping mechanism

Fu, Huiqun; Zhang, Xiufeng; Wang, Xitai; Yang, Rong; Jian, Li; Wang, Li; Zhang, Ning; Li, Guanglin; Liu, Tao; Fan, Bingfei; Inoue, Yoshio

doi:10.1177/1729881416658174

Cited by 11 publications

(5 citation statements)

References 14 publications

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“…The torque required to enable the wearer without human effort is approximately 67.2 Nm. 17 Therefore, the presented exoskeleton can substantially assist the patients suffering from knee disorder as it provides an external assistance of 40 Nm. Hence, the proposed KE can provide 60% of the external assistance during the SSS motion, limiting the human effort by 40%.…”

Section: Simulation Results and Discussionmentioning

confidence: 99%

“…However, a slight deviation in the experimental peak value is observed from the theoretical value in cycles B and C, which may be due to the unknown dynamics of the actuator during expansion or contraction. According to the book Human body dynamics , 39 the upper body (trunk, head, neck, upper and forearm, and hand) constitutes approximately 60% of the total weight of the body both for males and females, and as per the literature, 17 the maximum average torque required by the healthy male of height 178 cm and mass of 80 kg free from any musculoskeletal and neurological injuries is 67.2 Nm or 0.84 Nm/kg. The current exoskeleton design can provide a maximum torque up to 40 Nm, which accounts for 60% of the external assistive torque during the SSS motion, limiting the human effort to 40%.…”

Section: Experimental Results For Validation Of Sss Motionsmentioning

confidence: 99%

“…A high-performing prosthetic knee joint was presented by Fu et al 17 A four-bar linkage was used as the mechanical frame. Arijit and Pratihar 18 demonstrated the expression for torque to create data set for training purposes using the Lagrangian and Denavit Hartenberg joint parameters.…”

Section: Introductionmentioning

confidence: 99%

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Linear actuator–based knee exoskeleton for stand–sit–stand motions: a bond graph approach

et al. 2022

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People with knee disorders often find it difficult to perform common mobility tasks, such as stand–sit–stand motions. High knee torque is required to complete such transitions, as the chances of toppling increase during these motions. Most of the existing conventional approaches, such as wheelchairs and crutches, have failed to provide complete independence to the users. Conversely, contemporary systems like lower body exoskeletons which are bulky, complex, and expensive do not specifically target the knee joint instead of assisting other joints. Hence, there is a need to aid the knee joint using a robotic knee exoskeleton capable of accurately providing the desired knee torque. In the present work, to assist the user in performing the stand–sit–stand motions, an electromyography sensor-based four-bar knee exoskeleton actuated by a linear actuator is proposed. The modeling of the complete exoskeleton is developed using bond graph technique, as the components exist in different energy domains and it is possible to frame a dynamic bond graph model using only kinematic equations. The prototype is fabricated, and experiments are carried out on an artificial limb to prove the efficacy of the design of the current knee exoskeleton. The assistive torque developed by the actuator at the knee joint of the exoskeleton is found to be suitable to assist the wearer. As a result, little effort is required by the wearer for performing the stand–sit–stand motions. The rotation of the thigh link of the developed exoskeleton was found to be suitable for performing the stand–sit–stand activity.

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Section: Simulation Results and Discussionmentioning

confidence: 99%

Section: Experimental Results For Validation Of Sss Motionsmentioning

confidence: 99%

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Linear actuator–based knee exoskeleton for stand–sit–stand motions: a bond graph approach

et al. 2022

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“…Li et al designed a four-bar mechanism robotic knee prosthesis integrated with a meniscus [18] , so that the robotic knee prosthesis can bear a larger load while exercising, and has the function of buffering shock absorption. Besides, Fu and Zhang et al also designed a four-bar robotic knee prosthesis based on parallel springs and dampers [19,20] to stably adjust the swing speed of the prosthetic knee in the swing phase and absorb vibration and maintain stability in the stance phase. To improve the cost-effectiveness of robotic knee prostheses, Arelekatti et al designed a low-cost passive four-bar prosthetic knee for daily use of amputees in developing countries [21] .…”

Section: Four-bar Mechanismmentioning

confidence: 99%

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Sun

Tang

et al. 2021

J Bionic Eng

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As the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

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“…Active knee prostheses have a motor or actuator unlike passive knee prostheses which increases the weight and volume of the knee prosthesis and shortens the operating time of the prosthesis due to the battery capacity. Passive knee prostheses, on the other hand, are more used in the commercial field since there is no need for batteries (Fu et al, 2016). Knee prostheses are further divided into two as single axis and polycentric prosthetic knee mechanisms with respect to their functions (Radcliffe 1994).…”

Section: Introductionmentioning

confidence: 99%

Dört Çubuk Mekanizmalı Diz Protezlerinin Arı Algoritması ve Genetik Algoritma ile Boyut Optimizasyonu

AYĞAHOĞLU,

GÜMÜŞ,

ÇAKAN

et al. 2023

Journal of Materials and Mechatronics: A

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In knee prostheses, the curve of the instantaneous center of rotation (ICR) and, therefore, stability of the prothesis are the most important parameters to be considered. The ICR curve depends on many parameters. One of them and the most effective one is the dimensions of four bar mechanism. In polycentric knee mechanisms, it has become inevitable to use optimization techniques while determining the dimensions of the mechanism for the stability of the prosthesis in the stance position. In this study, definitions of knee prostheses and polycentric knee mechanisms are given, optimization studies written in this field are mentioned thorough literature research. The study aims to find mechanism dimensions that gives ICR curve close to the reference curve by optimizing the mechanism dimensions of four-bar knee mechanisms. The Bees Algorithm and Genetic Algorithm (GA) were used for this purpose. The limits and objective function for the optimization were determined, and after many trials, separate mechanism dimensions with The Bees Algorithm and the Genetic Algorithm are obtained. By comparing the results, it was seen that The Bees Algorithm gave better results.

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A novel prosthetic knee joint with a parallel spring and damping mechanism

Cited by 11 publications

References 14 publications

Linear actuator–based knee exoskeleton for stand–sit–stand motions: a bond graph approach

Linear actuator–based knee exoskeleton for stand–sit–stand motions: a bond graph approach

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Dört Çubuk Mekanizmalı Diz Protezlerinin Arı Algoritması ve Genetik Algoritma ile Boyut Optimizasyonu

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