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CSME 2019/12
Volume 40 No.6
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635-645
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Development of a Knee Exoskeleton with Gear-Linkage Adaptive Mechanism
Shih-Hao Yeha, Zhi-Hao Kangb, Hsiang-Yuan Tingb and Han-Pang Huangb
aDepartment of Mechanical Engineering, University of Washington, Seattle, WA 98195, U.S.
bDepartment of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 10617, ROC.
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Abstract:
In this paper, we design a novel knee exoskeleton - Gear Linkage Adaptive Knee Joint (GLAKJ), with ergonomic characteristics, i.e., self-rotation and rolling-sliding of the knee joint, which are derived from the bones and the ligaments of the knee joint model, and it is hard to design simultaneously in a simple mechanism. To overcome the difficulties, we construct the GLAKJ which combines the two output motions into a single input mechanism. This ergonomic design can reduce the discomfort causing by the inconsistency between the knee joint and the exoskeleton. On the other hand, we use a vision-based system to measure the knee joint data for parameters identification. The vision-based method requires only a low-cost device to customize the GLAKJ for patients. In the experiments, the measured knee joint data of three subjects are validated and implemented on the proposed exoskeleton, and the results have similar motion like the human knee joint.
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Keywords: Knee exoskeleton, Ergonomics, Vision-based parameter identification.
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*Corresponding author; e-mail:
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©
2019
CSME , ISSN 0257-9731
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