AssistOn-Knee: A self-aligning knee exoskeleton

Çelebi, Beşir; Yalcin, Mustafa; Patoğlu, Volkan

doi:10.1109/iros.2013.6696472

Cited by 84 publications

(56 citation statements)

References 18 publications

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“…As an example, the knee joint, is defined as a condyloid joint (Hamill and Knutzen 2009) formed by the proximal portion of the tibia and the distal end of the femur. It performs flexion and extension, and internal or external rotations; nonetheless, when loaded under body weight or during full extension, internal and external rotations are greatly constrained (Celebi et al 2013). When knee flexes or extends, tibia rolls and slides on femur causing the instant center of rotation to be displaced up to 3 cm (Lee and Guo 2010).…”

Section: Understanding Biological Joint Kinematics: Compliant Joint Mmentioning

confidence: 99%

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Anaya

Thangavel

Huang

2018

Int J Intell Robot Appl

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Gait disorders in neurologically disabled people can be treated by various techniques available today which include passive orthoses, functional electrical stimulation (FES) and robot assisted gait training devices (RAGT). However, each system has its own drawback. For example, gait rehabilitation with orthosis is physically taxing for the patient with no significant functional improvement. FES uses muscle powers as physiological actuators to promote balance and improve gait but leads to fatigue, along with poor control of joint trajectories. RAGT devices including powered exoskeletons, gait rehabilitation systems employing programmable footplates and mobile training platforms, have shown significant advantages but the devices are not yet mature due to numerous drawbacks associated with physical and cognitive interaction, energy-management and portability issues. The combination of FES technology and RAGT devices, often named hybrid FES-robot technologies, has arisen as a promising approach to aid in gait restoration. This work reports a comprehensive review on the hybrid FES-robot technologies over the last decades, focusing on different mechanical structures, actuator designs, sensing technologies, and control approaches. The hybrid robotic structures are classified into two categories: (i) orthotic-based hybrid systems, where (a) FES is used to stimulate the muscles and produce joint torque while the robotic system acts as energy dissipating device, and (b) FES and robotic systems are both torque-generating devices; and (ii) non-orthotic based hybrid systems. The review compiles a variety of sources and illustrates the technology's most important challenges in the fields of hybrid rehabilitation robotics which may contribute towards further development of hybrid robot systems.

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Section: Understanding Biological Joint Kinematics: Compliant Joint Mmentioning

confidence: 99%

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Anaya

Thangavel

Huang

2018

Int J Intell Robot Appl

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“…The movements of the markers in the experiments are shown as blue lines; the movements of the four points in the simulation are shown as black lines; the intersection of the FHA with the plane of marker movements determined experimentally is shown as solid green lines. The ICR calculated based on the simulation model using the algorithm presented in this section, according to Equation (4), is shown as a dashed green line. The result shows that there is a deviation even in the marker movements of different sREC-modules, which is a result of the non-industrial "handmade" manufacturing process of sRECs.…”

Section: Equivalent Kinematic Model Of the Bending Actuator And Invesmentioning

confidence: 99%

“…To follow the polycentric movements of human joints, sophisticated mechanical structures are required [4,5]. These exoskeleton-like rehabilitation devices can indeed provide an exact adjustment to the individual human, but are not compliant and have high production costs.…”

Section: Introductionmentioning

confidence: 99%

Experimental and Simulation-Based Investigation of Polycentric Motion of an Inherent Compliant Pneumatic Bending Actuator with Skewed Rotary Elastic Chambers

et al. 2017

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Abstract:To offer a functionality that could not be found in traditional rigid robots, compliant actuators are in development worldwide for a variety of applications and especially for human-robot interaction. Pneumatic bending actuators are a special kind of such actuators. Due to the absence of fixed mechanical axes and their soft behavior, these actuators generally possess a polycentric motion ability. This can be very useful to provide an implicit self-alignment to human joint axes in exoskeleton-like rehabilitation devices. As a possible realization, a novel bending actuator (BA) was developed using patented pneumatic skewed rotary elastic chambers (sREC). To analyze the actuator self-alignment properties, knowledge about the motion of this bending actuator type, the so-called skewed rotary elastic chambers bending actuator (sRECBA), is of high interest and this paper presents experimental and simulation-based kinematic investigations. First, to describe actuator motion, the finite helical axes (FHA) of basic actuator elements are determined using a three-dimensional (3D) camera system. Afterwards, a simplified two-dimensional (2D) kinematic simulation model based on a four-bar linkage was developed and the motion was compared to the experimental data by calculating the instantaneous center of rotation (ICR). The equivalent kinematic model of the sRECBA was realized using a series of four-bar linkages and the resulting ICR was analyzed in simulation. Finally, the FHA of the sRECBA were determined and analyzed for three different specific motions. The results show that the actuator's FHA adapt to different motions performed and it can be assumed that implicit self-alignment to the polycentric motion of the human joint axis will be provided.

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“…This paper extends the results of previous research [19] by presenting a more complete model of the horizontal self-adjustment movement together with the analysis of the vertical self-adjustment movement. In contrast to other designs, employed more particularly in active orthoses, where additional DOFs remain free all throughout the joint movements [20][21][22][23][24][25], we focus in this work on passive orthoses. The extra DOFs are blocked after a short period of self-adjustment, after which the orthosis can work normally to protect the anatomical joint.…”

Section: The Self-adjusting Mechanism Approachmentioning

confidence: 99%

Self-adjustment mechanisms and their application for orthosis design

Cai

Bidaud

Hayward³

et al. 2016

Meccanica

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Medical orthoses aim at guiding anatomical joints along their natural trajectories while preventing pathological movements, especially in case of trauma or injuries. The motions that take place between bone surfaces have complex kinematics. These so-called arthrokinematic motions exhibit axes that move both in translation and rotation. Traditionally, orthoses are carefully adjusted and positioned such that their kinematics approximate the arthrokinematic movements as closely as possible in order to protect the joint. Adjustment procedures are typically long and tedious. We suggest in this paper another approach. We propose mechanisms having intrinsic self-aligning properties. They are designed such that their main axis self-adjusts with respect to the joint's physiological axis during motion. When connected to a limb, their movement becomes homokinetic and they have the property of automatically minimizing internal stresses. The study is performed here in the planar case focusing on the most important component of the arthrokinematic motions of a knee joint.

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AssistOn-Knee: A self-aligning knee exoskeleton

Cited by 84 publications

References 18 publications

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Experimental and Simulation-Based Investigation of Polycentric Motion of an Inherent Compliant Pneumatic Bending Actuator with Skewed Rotary Elastic Chambers

Self-adjustment mechanisms and their application for orthosis design

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