Development and characterisation of a controllable adjustable knee joint mechanism

Olinski, Michał; Gronowicz, Antoni; Ceccarelli, Marco

doi:10.1016/j.mechmachtheory.2020.104101

Cited by 19 publications

(9 citation statements)

References 25 publications

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“…In ref. [14], a new adjustable knee joint mechanism is synthesized based on a crossed four-bar mechanism to reproduce the complex flexion/extension movement of the knee joint. Although there are more complex models to represent the human knee, the idea of this paper is to obtain a simpler, low-cost, and easier-to-use model for health professionals.…”

Section: Knee Kinesiologymentioning

confidence: 99%

Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

Gonçalves

Kaufmann

2023

Robotica

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To support and facilitate the rehabilitation of patients with physical limitations and aid the therapist, several robotic structures are being studied. Among the structures, the cable-driven robots stand out. The cable-driven robots are structures actuated by cables and have the advantages of being flexible and reconfigurable for each patient. The objective of this paper is to develop a theoretical model for knee flexion/extension force and moment using a cable-driven robot. The proposed model is necessary for elaborating a referential to which diagnosis can be made and the improvement of the patient evaluated. The presented theoretical model was validated through experiments with twelve sedentary and healthy volunteers. The first procedure tested ten subjects in three thigh angles for knee flexion motion; the second procedure tested two subjects in flexion and extension for the same thigh angle. The results show the validity of the model for 88.58% of the tests in an ANOVA analysis with a 99% confidence interval. The similarity of data for different gender, ages, and intrinsic factors was noted, implying that the model is representative and independent of the subject’s individuality. Differences between flexion and extension values were observed, which need to be studied in the future.

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Section: Knee Kinesiologymentioning

confidence: 99%

Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

Gonçalves

Kaufmann

2023

Robotica

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“…In a healthy knee joint, the instantaneous center of rotation (ICR) varies in response to the knee angle [15]. In our design for passive mode, the PHKP-EC turns into a four-bar linkage structure, which mimics the trajectory of healthy people's ICR and provides more geometric stability and larger toe clearance than a single-axis knee.…”

Section: B Passive Modementioning

confidence: 99%

Design and Validation of a Polycentric Hybrid Knee Prosthesis With Electromagnet-Controlled Mode Transition

Wang

Xiu

Zhang

et al. 2022

IEEE Robot. Autom. Lett.

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A hybrid knee prosthesis is proposed in this paper, which consists of a polycentric structure in passive mode for low-torque activities and a single-axis structure in active mode for high-torque activities. A novel mode transition mechanism controls self-holding electromagnets for switching modes between the four-bar linkage and single-axis structure. Compared with the conventional single-axis hybrid knee, the four-bar polycentric mechanism with varying instantaneous center of rotation (ICR) can enhance the geometric stability and increase the toe clearance in passive mode. For active mode, we developed a custom embedded electric system, employed torque control for stance and position control for swing. The results of bench tests indicated that the bandwidth of the controller was suitable for locomotion. The clinical test of level-ground walking without sudden buckling and stumble was validated by three subjects. Regarding climbing stairs, a typical high-torque activity in daily locomotion, all subjects reach the maximum knee torque around 0.95 Nm/kg comparable to the able-bodied. Index Terms-Prosthetics and exoskeletons, actuation and joint mechanisms I. INTRODUCTIONn our world, some people lose their lower limbs and must deal with a variety of mobility issues. With the prevalence of vascular disease, estimates indicate that the incidence of amputation and stroke will increase rapidly in the coming decades [1]. The knee prosthesis is committed to enhancing daily movement as a rehabilitation assistant device for transfemoral amputees.Passive knee prostheses occupy the market due to their Manuscript

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“…14 The synthesis and experimental validation of an adjustable six-bar crank-rocker-slider mechanism in piston-axial pumps with a variable plate angle are shown in Wilhelm and Van de Ven. 15 The development of an adjustable knee joint based on a four-bar linkage mechanism for the rehabilitation of patients with the problem of lower leg activation is shown in Olinski et al 16 ; the authors added two identical two-bar modules to generate a complex movement of the lower leg, i.e. for rotation of the lower leg about the horizontal and vertical axis.…”

Section: State Of the Artmentioning

confidence: 99%

High-capacity stacking apparatus for thermoforming machine – Part II: Structural design of the adjustable stacker driving mechanism

Penčić

Čavić

Oros

et al. 2021

Advances in Mechanical Engineering

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Part II presents the structural design of a high-capacity adjustable stacker mechanism for thermoforming machines which enables the receival, transport and stacking of cup-like products. It was previously established (please see Part I) that a four-bar linkage mechanism with a one-way clutch is the optimal solution for realizing the intermittent motion of the stacker conveyor. The main objective here is to enable the change of the stacker work parameters, with the goal of changing and adjusting the work stroke of the conveyor. Accordingly, there are two main requirements the solution needs to fulfill. The first is that of the regulation characteristic’s function – the relationship between the change of the work stroke and the change of the regulation parameter, must be linear, and the second is that it allows for regulation within a wide range. Due to this, the adopted solution proposed that two links have variable lengths. The input link should have discreet length values which correspond to different values of the conveyor work stroke, while the output link length should be continuously variable, within a narrow range thus ensuring linear regulation characteristic. Finally, it should be noted that this solution makes the stacker compatible with a wide array of products, which increases the productivity and flexibility, adjusting the stacker to receive a different product can be done quickly and easily and avoiding a halt in the production as it takes less time to adjust the stacker than the thermoforming machine.

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Development and characterisation of a controllable adjustable knee joint mechanism

Cited by 19 publications

References 25 publications

Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

Design and Validation of a Polycentric Hybrid Knee Prosthesis With Electromagnet-Controlled Mode Transition

High-capacity stacking apparatus for thermoforming machine – Part II: Structural design of the adjustable stacker driving mechanism

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