Development of a Wearable Assist Robot for Walk Rehabilitation After Knee Arthroplasty Surgery

Abstract

In Japan, it is popular that the disease knee joints will be replaced to artificial joints by surgery. And we have to assist so many patients for walk rehabilitation. So, the wearable assist robot has been developed. This robot includes the knee motion assist mechanism and the hip joint support mechanism. Especially, the knee motion assist mechanism consists of a non-circular gear and grooved cams. This mechanism rotates and slides simultaneously, which has two degree-of-freedom. Also, the hip joint support mechanism consists of a hip brace and a ball-joint. This mechanism can avoid motion constraints which are the internal or external rotation and the adduction or abduction. Then, the control algorithm, which considers an assisting timing for the walk rehabilitation, has been proposed. A sensing system of a walk state for this control system uses a heel contacts sensor and knee and hip joint rotation angle sensors. Also, the prototype robot has been tested. And it is confirmed that the assisting system is useful.

Development of a Trochoidal Gear Reducer with a Slipping Rollers Type Torque Limiter

“…So, to support the aging people, a development of a wearable human assist robot is the current trend [5,10]. These robots assisting human muscles, must deal with various abnormal conditions which are tipping and tripping.…”