Design of Knee Exoskeleton using Electromyography Sensor

Jain, Pooja; Himanshu, G.; Bhupendra, M.; Dharmendra, Y.; Aditya, V.; Kumar, Danya Pradeep; Bera, Tarun Kumar

doi:10.1109/icces45898.2019.9002239

Cited by 3 publications

(3 citation statements)

References 12 publications

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“…This is due to the fact that as the transition from stand-to-sit takes place, the moment arm increases which results in the increase in the torque developed at joint 5 (knee joint) of the exoskeleton. The maximum values of the knee torques when the exoskeleton is driven by linear actuator are found at 10 21 Nm, respectively. For better understanding, the observed knee torque values at joint 5 are plotted with respect to cycle time for different weights.…”

Section: Resultsmentioning

confidence: 97%

“…Mohammed et al 8 proposed a KE for gait rehabilitation, which is actuated by a DC motor through a transmission mechanism comprised of a pulley, a ball screw, and a traction cable. In another work, a KE actuated by two DC motors in combination with five-bar linkage was presented by Liao et al 9 Jain et al 10 investigated the design of KE driven by four-bar mechanism using electromyography and force sensor for gait rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

“…10 represent the linear velocities of point 6 (located on d 5 ) along X-and Y-directions, respectively. The moduli used for finding out the velocities at different points are…”

mentioning

confidence: 99%

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Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions

Jain

Bera

Rafique

et al. 2020

International Journal of Advanced Robotic Systems

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Stand–sit–stand (STS) motions are the most frequently performed activities of everyday life and require extensive movement of knee joint. People suffering from knee joint disorders face difficulties in performing this motion. The compact knee exoskeleton (KE) has proven to be a viable, less complex, and cheaper alternative to the available entire lower-, upper-, and full-body exoskeletons. With growing number of technical glitches and finite battery life problems, there exist risks of sudden failure of the actuator of KE that could be detrimental for the vulnerable users. To overcome this problem, there is a need to accommodate a backup actuator in KE which can continue providing assistance during movement if the primary actuator ceases to function. This article provides a performance comparison of a four-bar mechanism-driven KE that can accommodate both the linear and the rotary actuators. The modelling and simulation of the system are performed using the bond graph (BG) technique. The results successfully showed that both actuators offered desired ranges of motions needed for STS motion. Furthermore, the knee joint torques developed by the linear and rotary actuators were found to be 40 Nm and 57 Nm, respectively, which corresponds to 60% and 85% of the total torque required by the knee joint to perform STS motions, thereby reducing the user effort to 40% and 15%, respectively. Thus, both actuators are self-capable to provide necessary assistance at the knee joint even if the primary actuator ceases to work due to a sudden fault, the secondary actuator will provide the required rotation of the thigh link and will continue to deliver the assistive torque. The article also effectively shows the application of BG approach to model the multidisciplinary systems like KE as it conveniently models the system containing various elements in different energy domains.

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Section: Resultsmentioning

confidence: 97%