On the application of RRSS motion generation and RRSS Axode generation for the design of a concept prosthetic knee

D'Alessio, Jerry; Russell, Kevin; Lee, Wen Tzong; Sodhi, Raj S.

doi:10.1080/15397734.2016.1218289

Cited by 6 publications

(5 citation statements)

References 15 publications

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“…In the design method for human transfemoral prosthetic knees, the axodes can be replaced with circular gears without loss of tibia position accuracy. 1,2 This is due to the near circular axode curvature of human knees during gait. In comparison, circular gear replacement is not an option with the canine test subject (without significant loss in tibia position accuracy) since its axodes are not circular.…”

Section: Discussionmentioning

confidence: 99%

“…Equations (11) through (13) calculate the displaced values of a 1 , u a 1 , and b 1 respectively and are included in Equations ( 2) through ( 5), (8) and Inequality (9). Equations ( 14) through (16) which calculate the displaced values of coupler points p Ã 1 , q Ã 1 , and r Ã 1 are included in equation (1). In equations ( 11) through ( 16), matrices R u j ;u a 0 h i and R u j ;u a 0 h i are 3 3 3 spatial rotation displacement matrices (about joint axis vectors u a 0 and u a 1 , respectively) for displacement angles u and a respectively (Figure 5(b)).…”

Section: Optimization Model For Rrss Motion Generationmentioning

confidence: 99%

“…Transfemoral prosthetic knee design method D'Alessio et al presented a method for the design method of a transfemoral prosthetic knee to replicate natural spatial human knee motion during gait. 1 This method produced a patented prosthetic knee design. 2 Figure 1 includes the stages of the design method.…”

Section: Introductionmentioning

confidence: 99%

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On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

Russell,

Chung,

Lin

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The novelty of this work is that for the first time, spatial four-bar linkage motion generation and axode generation models have been applied for the design of a joint to replicate natural canine knee motion. This canine knee design method incorporates spatial four-bar Revolute-Revolute-Spherical-Spherical linkage motion generation and axode generation models to ultimately produce the rolling cam surfaces needed to produce natural spatial canine knee motion. This work presents the latest findings from an ongoing study where a transfemoral prosthetic knee design method is being applied to produce concept prosthetic knee joints for canines that replicate natural spatial knee motion during treadmill gait. To date, this study has considered three canine subjects, ranging from ages 1.1 to 10 years and treadmill speeds ranging from 1.3 to 2.9 km/h.

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Section: Discussionmentioning

confidence: 99%

Section: Optimization Model For Rrss Motion Generationmentioning

confidence: 99%

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On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

Russell,

Chung,

Lin

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

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“…The Instantaneous Center of Rotation (ICR) can be fine-tuned via adjusting the gear ratio of the prosthetic mechanism, which improves the customizable level of the robotic knee prosthesis. Dalessio et al theoretically designed a robotic knee prosthesis based on the non-circular gear [23] . It uses the axial plane optimization in the Revolute-Revolute-Spherical-Spherical (RRSS) space to obtain the specific parameters of the non-circular gear, which can ideally simulate the rotation characteristics of the human knee joint.…”

Section: Multi-axial Mechanismmentioning

confidence: 99%

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Sun

Tang

et al. 2021

J Bionic Eng

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As the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

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“…D'Alessio et al theoretically designed a prosthetic knee joint based on non-circular gear meshing. This prosthetic knee joint employs the RRSS spatial single-degree-of-freedom four-link mechanism axial surface optimization to obtain the specific parameters of the non-circular gears in principle, better simulating the rotational characteristics of the human knee joint [10]. N. Ghaemi et al proposed a multi-lever-mechanism prosthetic knee joint based on flexible joints in force analysis and optimization.…”

Section: Introductionmentioning

confidence: 99%

Mechanism Analysis and Optimization Design of Exoskeleton Robot with Non-Circular Gear–Pentabar Mechanism

Wang,

Zhou,

Sun

et al. 2024

Machines

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To address the complex structure of existing rod mechanism exoskeleton robots and the difficulty in solving the motion trajectory of multi−rod mechanisms, an exoskeleton knee robot with a differential non−circular gear–pentarod mechanism is designed based on non−circular gears with arbitrary transmission ratios to constrain the degrees of freedom of the R-para-rod mechanism. In this study, the kinematic model of a non-circular gear–five−rod mechanism is established based on motion mapping theory by obtaining the normal motion positions of the human lower limb. An optimization design software for the non-circular gear–five−rod mechanism is developed using the MATLAB 2018b visualization platform, with the non−circular active gear as the sole input variable. A set of ideal parameters is obtained through parameter adjustment and optimal parameter selection, and the corresponding trajectories are compared with human trajectories. The three−dimensional model of the mechanism is established according to the obtained parameters, and the motion simulation of the non−circular gear–five−bar mechanism demonstrates that the mechanism can better reproduce the expected human knee joint motion posture, meeting the working requirements of an exoskeleton knee robot.

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On the application of RRSS motion generation and RRSS Axode generation for the design of a concept prosthetic knee

Cited by 6 publications

References 15 publications

On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Mechanism Analysis and Optimization Design of Exoskeleton Robot with Non-Circular Gear–Pentabar Mechanism

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