Design and Characterization of a Novel Knee Articulation Mechanism

Olinski, Michał; Gronowicz, Antoni; Handke, A.; Ceccarelli, Marco

doi:10.1515/ijame-2016-0037

Cited by 18 publications

(9 citation statements)

References 12 publications

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“…Thus, the response of the system is obtained by properly assigning the causal strokes. 22 In this work, the actuator and the motor lie in the electrical domain, whereas the gearbox, lead screw, and four-bar mechanism exist in the mechanical domain. Such multidomain systems can easily be modelled using BG and the work shows useful application of this technique.…”

Section: Bg Modelsmentioning

confidence: 99%

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Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions

Jain

Bera

Rafique

et al. 2020

International Journal of Advanced Robotic Systems

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Stand–sit–stand (STS) motions are the most frequently performed activities of everyday life and require extensive movement of knee joint. People suffering from knee joint disorders face difficulties in performing this motion. The compact knee exoskeleton (KE) has proven to be a viable, less complex, and cheaper alternative to the available entire lower-, upper-, and full-body exoskeletons. With growing number of technical glitches and finite battery life problems, there exist risks of sudden failure of the actuator of KE that could be detrimental for the vulnerable users. To overcome this problem, there is a need to accommodate a backup actuator in KE which can continue providing assistance during movement if the primary actuator ceases to function. This article provides a performance comparison of a four-bar mechanism-driven KE that can accommodate both the linear and the rotary actuators. The modelling and simulation of the system are performed using the bond graph (BG) technique. The results successfully showed that both actuators offered desired ranges of motions needed for STS motion. Furthermore, the knee joint torques developed by the linear and rotary actuators were found to be 40 Nm and 57 Nm, respectively, which corresponds to 60% and 85% of the total torque required by the knee joint to perform STS motions, thereby reducing the user effort to 40% and 15%, respectively. Thus, both actuators are self-capable to provide necessary assistance at the knee joint even if the primary actuator ceases to work due to a sudden fault, the secondary actuator will provide the required rotation of the thigh link and will continue to deliver the assistive torque. The article also effectively shows the application of BG approach to model the multidisciplinary systems like KE as it conveniently models the system containing various elements in different energy domains.

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Section: Bg Modelsmentioning

confidence: 99%

“…A linear actuator for the actuation purpose was utilized for the actuation. Olinski et al 22 proposed a 3-DOF system to perform the reference path of ICR of knee joint. The device was based on four-bar mechanism having controlled variable lengths of rockers for knee joint rehabilitation of the wearer.…”

Section: Introductionmentioning

confidence: 99%

Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions

Jain

Bera

Rafique

et al. 2020

International Journal of Advanced Robotic Systems

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“…The materials for implants should be of low Young's modulus (as close to the bone elasticity as possible), and low weight density. Titanium and its alloys with niobium [14,16] present those features. When Young's modulus value is close to the one of the bone being implanted (tibia or femoral) it very positively influences on bio-compatibility of the alloplastics.…”

Section: Stress Analysis In the Pair Sled -Flat Insert For Endoprosthmentioning

confidence: 99%

“…There are currently being tested new titanium alloys with niobium and zirconium with much lower elasticity modulus of 55-60 GPa. Titanium alloys like Ti6Al4V and new ones like TiNbZr and TiNbZrTa, present very good mechanical features, however lower value of elasticity modulus of the alloys with niobium proves that the future of alloplastics belongs to them [12,13,14].…”

Section: Stress Analysis In the Pair Sled -Flat Insert For Endoprosthmentioning

confidence: 99%

The finite element method in the analysis of the stress and strain distribution in polyethylene elements of hip and knee joints endoprostheses

Nabrdalik

Sobociński

2019

MATEC Web Conf.

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The paper presents the numerical analysis of stress and strain occurring in the most wearable parts of hip and knee joints endoprostheses. The complexity of the processes taking place in both, natural and artificial joints, makes it necessary to conduct the analysis on the 3D model based on already existing mathematical models. Most of the mechanical failures in alloplasty are caused by material fatigue. To cut down the risk of it, we can either increase the fatigue resistance of the material or decrease the load strain. It is extremelly important to indicate the areas where damage or premature wear may occur. The Finite Elements Method makes it possible to calculate the stress and strain in particular elements of the tested models. All presented numerical calculations define quality conclusions concerning the influence of some parameters of endoprostheses on the values of stress and strain that are formed in polyethylene parts of endoprotheses of hip and knee joints. The obtained results help to reveal “weak points” in examined models and thus, counteract the subsequent effects resulting from premature wear of endoprosthesis elements. The numerical analysis was performed basing on the finite elements method using Autodesk Simulation Mechanical 2017 software and the ADINA 7.5.1.

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“…This system is characterized by spatial movable relations between particular bones of the lower and upper limbs. In the case of the lower limb, the most common number is the 7 degrees of freedom between the pelvis and the foot of each limb (Olinski, 2016). This means that the lower limb forms a redundant system thanks to which the mobility of the entire limb is increased.…”

Section: Introductionmentioning

confidence: 99%

Synthesis of human-bike kinematic structures for direct kinematic analysis

2018

Engineering Mechanics

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The work concerns the analysis of possible kinematic structures of a human lower limbs set in combination with a bicycle. The selection of the appropriate kinematic structure was carried out in a manner allowing to perform numerical studies on the created man-bicycle model. The research was aimed at the elimination of passive constraints present in common models intended for kinematics and dynamics studies of the drive transfer from human lower limbs to the bicycle crank. Selected models have been used to obtain information on the driving moments in the hip and knee joints, as well as the loads from the reaction forces. Selected parameters were obtained by inverse kinematics based on displacement characteristics in individual joints. The research was carried out in an environment designed for dynamic simulation studies of multibody systems.

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Design and Characterization of a Novel Knee Articulation Mechanism

Cited by 18 publications

References 12 publications

Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions

Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions

The finite element method in the analysis of the stress and strain distribution in polyethylene elements of hip and knee joints endoprostheses

Synthesis of human-bike kinematic structures for direct kinematic analysis

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