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

Abstract

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.

A review of the diverse applications of bond graphs in biology and physiology

“…The first BG human exoskeleton model was developed in 2016 when Flynn [86] investigated the functionality of an adjustable rehabilitative gait training device. Since then, BGs have been used to calculate the energy stored in electric capacitors, torque and rotational velocities of the motor shaft; and to stabilize systems [71,[87][88][89][90][91]. Using the capabilities of BGs to track the flow of power in a system, Ragusila & Emami [92] proposed a method of model simplification by BGs.…”

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

“…Linear actuators convert rotary motion into linear motion and are often used to create push-pull movements in exoskeletons, as in the knee extension assistance device designed in [45], which was used to perform the function of standing-sitting-standing. This type of actuator allows precise control of speed, position, and force [46,47].…”