Self-adjusting, isostatic exoskeleton for the human knee joint

Cai, Viet Anh Dung; Bidaud, Philippe; Hayward, Vincent; Gosselin, Florian; Desailly, Éric

doi:10.1109/iembs.2011.6090136

Cited by 32 publications

(12 citation statements)

References 18 publications

(19 reference statements)

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“…The interaction between the driven member and the robotic arm often occurs near the extremity of the respective kinematic chains. This approach is usually easier to implement but can lead to a lack of efficiency and security (96). Indeed, as the device engage several joints simultaneously, an unconstrained articulation might be moved in arbitrary directions and cause a non-physiological movement, e.g.…”

Section: Discussionmentioning

confidence: 99%

“…Therefore, as part of the future work, the developers foresee to minimize the size of the second prototype, use higher transmission ratio to increase the torques, and test usability with health volunteers. In 2011, Cai et al (96) proposed a self-adjusting orthosis device for the human knee joint (see figure 38), able to compensate misalignment with the tibiofemoral joint. The main feature of this exoskeleton is that, unlike the other devices before it, it can move the knee in flexion/extension while leaving completely free the remaining 5 DOFs of the tibiofemoral joint, i.e.…”

Section: Figure 34mentioning

confidence: 99%

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The use of robotics devices in knee rehabilitation: a critical review

Wilmart

Garone

Innocenti

2019

Muscle Ligaments and Tendons J

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Knee surgery is a common procedure to treat cartilage defects, soft tissue lesions as cruciate ligaments (ACL/PCL), and osteoarthritis with total or unicondylar knee arthroplasty. After knee surgery, every patient undergoes a long period of rehabilitation (typically from 6 weeks to 6 months) consisting of long sessions of physiotherapy and medical training therapy carried out by qualified personnel. This procedure is long and expensive, and may cause work-related pathologies to physiotherapists. Fortunately, it is generally agreed that robotics may benefit to both patients and physiotherapists due to its ability to repeat tasks with accuracy and its potential to measure the progress of the rehabilitation. This paper aims at providing a critical review of the different proposed robotic solutions and the associated rehabilitation techniques for the knee in particular and for the lower limb in general, with the sake of highlighting the pros and cons and to identify possible promising directions of research.

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Section: Discussionmentioning

confidence: 99%

Section: Figure 34mentioning

confidence: 99%

The use of robotics devices in knee rehabilitation: a critical review

Wilmart

Garone

Innocenti

2019

Muscle Ligaments and Tendons J

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“…As the cable must always exit the driving pulley in front of the entry on the driven pulley, the later must have the same width as the former and the system is globally cumbersome in this case. Of course these difficulties can be circumvented using two-stage cable reducers [5] or combining cable reducers and other reduction means; for example, friction drives as in [25]. These solutions, however, increase complexity.…”

Section: Highly Backdrivable Actuatorsmentioning

confidence: 99%

Development of a New Backdrivable Actuator for Haptic Interfaces and Collaborative Robots

2016

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Industrial robots are most often position controlled and insensitive to external forces. In many robotic applications, however, such as teleoperation, haptics for virtual reality, and collaborative robotics, a close cooperation between humans and robots is required. For such applications, force sensing and control capabilities are required for stable interactions with the operator and environment. The robots must also be backdrivable, i.e., the robot must be able to follow user's induced movements with the least possible resistance. High force efficiency is also desirable. These requirements are different from the design drivers of traditional industrial robots and call for specific actuators and reducers. Many such devices were proposed in the literature. However, they suffer from several drawbacks, offering either a limited reduction ratio or being complex and bulky. This paper introduces a novel solution to this problem. A new differential cable drive reducer is presented. It is backdrivable, has a high efficiency, and a potentially infinite reduction ratio. A prototype actuator using such a reducer has been developed and integrated on a test bench. The experimental characterization of its performance confirms its theoretical advantages.

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“…The authors applied the design rule propose by (Cai et al 2011) for the determination of the total general mobility of the mechanism and the number of passive joints that should be included into the mechanism to make the whole mechanical structure free of constraints when it is attached onto an anatomical joint. The idea is quite simple: one can consider two adjacent human corporal segments as two rigid solids which are connected to each other by an anatomical joint.…”

Section: Mechanical Designmentioning

confidence: 99%