Reduction of Ground Impact of a Powered Exoskeleton by Shock Absorption Mechanism on the Shank

Park, Jungsu; Lee, Daeho; Park, Kyeong-Won; Kong, Kyoungchul

doi:10.1109/icra48506.2021.9561153

Cited by 6 publications

(4 citation statements)

References 10 publications

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“…As expected, the PGRF often appears at the beginning of foot-ground collisions, e.g., 0.7 s in Figure 9a. This agrees with the result obtained by Jeongsu et al [11]. At moments of strikes, movements of landing legs follow predefined trajectories and behave rigidly, resulting in sudden CoM velocity variations, thus leading to excessive PGRF.…”

Section: Experiments On the Aider Exoskeleton Systemsupporting

confidence: 92%

“…Generally, the CoM of human-exoskeleton systems can be located on hip joints [21]. To deal with the impact force transmitted from feet to the CoM, we considered introducing a spring-damping system as the shock-absorption model, which shows shockabsorption behaviour [11]. In addition, we optimized the parameters of the model, i.e., OSAM.…”

Section: Optimized Knee-trajectory Modulation 211 Optimized Shock-abs...mentioning

confidence: 99%

“…Jun et al [10] developed a lower-extremity wearable link mechanism for shock absorption in extreme environments. Jeongsu et al [11] designed a shock absorption mechanism on shanks for a powered exoskeleton, which can reduce the PGRF effectively for a specific gait. In general, mechanical shock absorption methods always include complex and bulky structures, thus limiting their application in exoskeletons.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory Modulation for Impact Reducing of Lower-Limb Exoskeletons

et al. 2022

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Lower-limb exoskeletons have received considerable attention because of their effectiveness in walking assistance and rehabilitation for paraplegic patients. Excessive foot–ground impacts during walking make patients uncomfortable and even lead to injury. In this paper, we propose an optimized knee trajectory modulation (OKTM) for foot–ground impact reduction. The OKTM can reduce the peak of ground reaction force (PGRF) by knee-joint trajectory modulation based on a parameters-optimizing spring-damping system. In addition, a hip trajectory modulation (HTM) is presented to compensate for torso pitch deflections due to the OKTM. Unlike traditional mechanical-device-based methods, the proposed OKTM and HTM require no bulky mechanical structures, and can adaptively adjust parameters to adapt to different impacts. We demonstrated the efficiency of the proposed approach in both simulations and experiments for engineering verifications. Results show that the approach can effectively reduce PGRF.

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Section: Experiments On the Aider Exoskeleton Systemsupporting

confidence: 92%

Section: Optimized Knee-trajectory Modulation 211 Optimized Shock-abs...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Trajectory Modulation for Impact Reducing of Lower-Limb Exoskeletons

et al. 2022

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“…Various mechanical devices have been developed to solve this problem. Ueda et al [19] developed a lower limb-worn linkage mechanism for shock absorption in extreme environments; Jeongsu et al [20] developed a powered exoskeleton for powered exoskeletons that can effectively reduce PGRF for a specific gait. They designed a shock-absorbing mechanism on the tibia; and Long et al created the AIDER (an exoskeletal robot for patients with lower body paralysis), which is actively driven by servomotors [12].…”

Section: Comparison With Previous Studiesmentioning

confidence: 99%

New Mechanical Knee Supporter Device for Shock Absorption

Shiraishi

2022

Machines

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Conventional knee supporters generally reduce knee pain by restricting joint movement. In other words, there were no mechanical knee supporters that functioned powerfully. Considering this problem, we first devised a device in which a spring is inserted into the double structure of the cylinder and piston, and a braking action is applied to the piston. This mechanism retracts when the knee angle exceeds a certain level. Next, the knee and the device were modeled, and the dynamic characteristics of the device were investigated to find effective elements for knee shock absorption. Although various skeletal and muscular structures have been studied for the knee section, we kept the configuration as simple as possible to find effective elements for the device. A shock-absorbing circuit was devised, and air was used as the working fluid to facilitate smooth knee motion except during shock. Increasing the spring constant effectively reduced the knee load.

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