Knee Flexion-Assisted Method for Human-Exoskeleton System

Wang, Zhipeng; Yang, Chengxiang; Zhang, Shengping; Zhang, Shihao; Yi, Chunzhi; Ding, Zhen; Wei, Baichun; Jiang, Feng

doi:10.1109/tnsre.2023.3287867

Cited by 8 publications

(2 citation statements)

References 41 publications

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Section: Introductionmentioning

confidence: 99%

“…Traditionally, the knee joint is simplified as a simple rotary joint in exoskeleton designs, and numerous knee exoskeletons have been developed according to this simplification [5][6][7][8][9][10][11][12]. However, the earlier exoskeleton designs [5][6][7][8][9][10][11][12] did not consider the misalignment of the human-robot joint axes. Owing to the anatomical structure and soft tissue deformation of the knee joint, human-robot joint axis misalignment produces undesirable interaction forces between the exoskeleton and the human joint, which may exert pressure on the user's skin and reduce comfort [13].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability

Li,

Liang,

et al. 2024

IEEE Trans. Neural Syst. Rehabil. Eng.

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The self-aligning capability of an exoskeleton is important to ensure wearing comfort, and the delicate motion ability of the exoskeleton is essential for motion assistance. Designing a self-aligning exoskeleton that offers improved wearing comfort and enhanced motion-assistance functions remains a challenge. This paper proposes a novel spatial self-aligning mechanism for a knee exoskeleton to enable simultaneous assistance in the flexion and extension (FE) of the knee joint and the internal and external rotation (IER) of the hip joint. Additionally, considering the misalignment of the human-robot joint axes, a kinematic model of the knee exoskeleton is established and analyzed to demonstrate the kinematic compatibility of the exoskeleton. Furthermore, a global torque manipulability (GTM) index is proposed to evaluate the effects of dimensional parameters on the exoskeleton's performance, and then the knee exoskeleton is optimized according to the GTM index. Finally, experiments are conducted to validate the performance of the proposed exoskeleton. The experimental results show that during knee FE and hip IER, the proposed exoskeleton exhibits lower interaction forces and torques than existing exoskeletons.

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