Determination of optimum energy level trajectory during swing phase for exoskeleton knee joint

Varghese, Jobin; Akhil, V.M.; Rajendrakumar, P. K.; Sivanandan, K. S.

doi:10.1109/rctfc.2016.7893416

Cited by 1 publication

(1 citation statement)

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“…Currently, the knee joints of most legged robots and lower‐limb exoskeletons use single‐axis hinges. [ 56,57 ] Although this hinge is straightforward and easy to manufacture, it has low strength and a limited rotation angle owing to the other structural components of the robot. [ 58 ] The human knee joint is the most weight‐bearing and complex joint among all joints, and previous studies found that the movement pattern of the knee joint is not a simple flexion–extension movement but a complex multi‐DOF movement pattern with flexion–extension, rolling, sliding lateral shift, and axial rotation.…”

Section: Design Of Humanoid Knee and Compliant Calf Mechanismmentioning

confidence: 99%

Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

Zhang,

Zang,

Chen

et al. 2023

Advanced Intelligent Systems

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In this study, the conventional virtual chain method is refined and a 4‐degrees‐of‐freedom (DOF) parallel bipedal mechanism (PBM) for walking robots is presented. The proposed design has the advantages of low inertia, high load‐to‐weight ratio, and impact resistance. First, to solve the redundant motion‐transmission problem, a refined virtual chain method is proposed for the type synthesis of the 4‐DOF parallel thigh mechanism. Second, the relationship equation for each actuated wrench component in a reasonable actuated joint arrangement is derived, and the number and location of the actuated joints are determined. Third, by optimizing the design of the hip joint as a 2‐DOF counter‐centered five‐link spherical mechanism with different rotation centers, passive knee and ankle joints are designed based on the bionic principle. This design is performed to make the PBM isotropic and minimize inertia. The proposed PBM can withstand heavy loads and impacts owing to its humanoid crossed four‐link knee joint mechanism and compliant calf mechanism. Finally, the prototype is processed, and the rationality of the design and excellent performance of the PBM design are verified by dynamic and static simulations and gait experiments.

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Section: Design Of Humanoid Knee and Compliant Calf Mechanismmentioning

confidence: 99%