Bioinspired Knee Joint for a Power-Assist Suit

Kikuchi, Takehito; Sakai, Kohei; Abe, Isao

doi:10.1155/2016/3613715

Cited by 9 publications

(5 citation statements)

References 12 publications

(15 reference statements)

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“…The joint itself has several advantages which can be exploited by muscles for control [31], which potentially outstrip current robotic joints. Simple mechanisms have implemented a pin joint and cam [32], [33] and synthesised four bar mechanisms to achieve the desired motion [34], [35] while more complex designs have drawn on knee joint structures for human augmentation [36]. Collectively these investigations have captured features of knee joint kinematics, stiffness or moment arm.…”

Section: A Related Workmentioning

confidence: 99%

The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics

Russell

Kormushev

Vaidyanathan

et al. 2020

IEEE Trans. Biomed. Eng.

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Elucidating the role of structural mechanisms in the knee can improve joint surgeries, rehabilitation, and understanding of biped locomotion. Identification of key features, however, is challenging due to limitations in simulation and in-vivo studies. In particular the coupling of the patellofemoral and tibio-femoral joints with ligaments and its impact on joint mechanics and movement is not understood. We investigate this coupling experimentally through the design and testing of a robotic sagittal plane model. Methods: We constructed a sagittal plane robot comprised of: 1) elastic links representing cruciate ligaments; 2) a bi-condylar joint; 3) a patella; and 4) actuator hamstrings and quadriceps. Stiffness and geometry were derived from anthropometric data. 10 • −110 • squatting tests were executed at speeds of 0.1−0.25 Hz over a range of anterior cruciate ligament (ACL) slack lengths. Results: Increasing ACL length compromised joint stability, yet did not impact quadriceps mechanical advantage and force required for squat. The trend was consistent through varying condyle contact point and ligament force changes. Conclusion: The geometry of the condyles allows the ratio of quadriceps to patella tendon force to compensate for contact point changes imparted by the removal of the ACL. Thus the system maintains a constant mechanical advantage. Significance: The investigation uncovers critical features of human knee biomechanics. Findings contribute to understanding of knee ligament damage, inform procedures for knee surgery and orthopaedic implant design, and support design of trans-femoral prosthetics and walking robots. Results further demonstrate the utility of robotics as a powerful means of studying human joint biomechanics.

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Section: A Related Workmentioning

confidence: 99%

The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics

Russell

Kormushev

Vaidyanathan

et al. 2020

IEEE Trans. Biomed. Eng.

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“…Previous studies that investigate the replication of the human knee have used simpler methods than the one presented here. These range from use of a pin joint and cam [27,28] to those that use four bar mechanisms to achieve the desired motion [29,30]. Each of these papers succeeds in capturing particular aspects of knee joint performance with regards to kinematics, stiffness or moment arm.…”

Section: Work To Datementioning

confidence: 99%

A biomimicking design for mechanical knee joints

et al. 2018

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In this paper we present a new bioinspired bicondylar knee joint that requires a smaller actuator size when compared to a constant moment arm joint. Unlike existing prosthetic joints, the proposed mechanism replicates the elastic, rolling and sliding elements of the human knee. As a result, the moment arm that the actuators can impart on the joint changes as function of the angle, producing the equivalent of a variable transmission. By employing a similar moment arm-angle profile as the human knee the peak actuator force for stair ascent can be reduced by 12% compared to a constant moment arm joint addressing critical impediments in weight and power for robotics limbs. Additionally, the knee employs mechanical 'ligaments' containing stretch sensors to replicate the neurosensory and compliant elements of the joint. We demonstrate experimentally how the ligament stretch can be used to estimate joint angle, therefore overcoming the difficulty of sensing position in a bicondylar joint.

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“…These research provide precious data basis for the development of knee exoskeleton. In addition, Some mechanisms were used to simulate the ICR trajectory of knee joints, such as linkage mechanisms (Li, 2020;Shin et al, 2023), cam mechanisms (Kikuchi et al, 2016;Wang et al, 2011) and gear mechanisms (Kikuchi et al, 2020). However, the ICR trajectory of the human knee joint was obtained through anatomical parameter fitting, but the anatomical parameters of the knee joint vary greatly among different individuals.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, Some mechanisms were used to simulate the ICR trajectory of knee joints, such as linkage mechanisms (Li, 2020; Shin et al. , 2023), cam mechanisms (Kikuchi et al. , 2016; Wang et al.…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of lower limb exoskeleton based on multi-axis knee joint

Yun,

Zhang,

Cui

et al. 2024

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Purpose The purpose of this paper is to improve the problem of kinematics incompatibility of human–exoskeleton in the existing rigid lower-limb exoskeleton (LLE). Design/methodology/approach In this paper, following an introduction, the motion characteristics of the human knee joint and the design method of the exoskeleton were introduced. A kinematics model of the LLE based on cross-four-bar linkage was obtained. The structural parameters of the LLE mechanism were optimized by the particle swarm optimization algorithm. The predefined trajectories used in the optimization process were derived from the ankle joint, not the instantaneous center of rotation of the knee joint. Finally, the motion deviation of the optimization result was simulated, and the human–exoskeleton coordination experiment was designed to compare with the traditional single-axis knee joint in terms of comfort and coordination. Findings The lower limb exoskeleton mechanism obtained in this paper has a good tracking effect on human movement and has been improved in terms of comfort and coordination compared with the traditional single-axis knee joint. Originality/value The customized exoskeleton design method introduced in this paper is relatively simple, and the obtained exoskeleton has better movement coordination than the traditional exoskeleton. It can provide a reference for the design of lower limb exoskeleton and lower limb orthosis.

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Bioinspired Knee Joint for a Power-Assist Suit

Cited by 9 publications

References 12 publications

The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics

The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics

A biomimicking design for mechanical knee joints

Design and optimization of lower limb exoskeleton based on multi-axis knee joint

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