Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2015-08, Vol.12 (8)
Main Authors: Kim, Jung-Hoon, Shim, Myounghoon, Ahn, Dong Hyun, Son, Byoung Jong, Kim, Suk-Young, Kim, Deog Young, Baek, Yoon Su, Cho, Baek-Kyu
Format: Article
Language:English
Subjects:
Algorithms
Coders
Control algorithms
Control theory
Damping
Design
Design engineering
Encoders
Exoskeletons
Finite state machines
Gait
Human motion
Insoles
Knee
Knees
Modular systems
Paralysis
Prostheses
Rehabilitation
Resistors
Robots
Sensors
Strain gauges
Torque
Torque sensors (robotics)
Walking
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Summary:This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing walking and sitting motion controls while wearing the knee exoskeleton.
ISSN:1729-8806
1729-8814
DOI:10.5772/60782