Human-Exoskeleton Misalignment Reduction on Knee Joint via an RPR Mechanism-Based Device

Cunxi Dai1; Peiwen Fu2; Bin Zhong2; Kaiqi Guo2; Mingming Zhang2

10.1109/ICARM54641.2022.9959600

2022

7th IEEE International Conference on Advanced Robotics and Mechatronics

978-1-6654-8307-0

2022 International Conference on Advanced Robotics and Mechatronics (ICARM)

45-50

9-11 July 2022

Guilin, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Lower-limb exoskeleton plays an increasingly significant role in robot-assisted rehabilitation, and the human-exoskeleton knee joint misalignment is one of the common safety concerns that obstruct the wearer's natural movement and even causes injuries. Most exoskeletons utilize a single revolute knee joint, which cannot sufficiently realize the human knee motion. Hence, the leading challenge to reduce misalignment is to precisely measure and reconstruct the wearer's knee joint motion in the sagittal plane. Towards this research goal, a wearable device with a revolute-prismatic-revolute ( RPR) mechanism has been designed to measure the wearer's natural knee-joint movement and determine the exoskeleton's knee-joint trajectory for better matched human-robot interaction. The RPR device features flexible adjustments to different wearer sizes. The measuring precision was validated via an optical motion capture system, and the non-interfering of natural walking was also verified. The efficacy of misalignment reduction was evaluated utilizing a simulation study based on kinematic calculations, demonstrating a reduced misalignment by 51% compared to conventional single revolute joints.

Human-robot interaction Knee Misalignment Rehabilitation

第一

英语

CPCI-S

National Natural Science Foundation of China[61903181]

Automation & Control Systems ; Engineering ; Robotics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics

WOS:000926398000008

IEEE

1.Department of Mechanical and Energy Engineering of, Southern University of Science and Technology, Shenzhen, Guangdong, China
2.Department of Biomedical Engineering, Shenzhen Key Laboratory of Smart Healthcare Engineering and Guangdong Provincial Key Laboratory of Advanced Biomaterials, Southern University of Science and Technology Nanshan District, Shenzhen, China

Cunxi Dai,Peiwen Fu,Bin Zhong,et al. Human-Exoskeleton Misalignment Reduction on Knee Joint via an RPR Mechanism-Based Device[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:45-50.