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Biofusion design and parameter optimization for a novel passive assisted knee exoskeleton robot based on eight-bar mechanism

Published online by Cambridge University Press:  09 May 2024

Jun Wei Open the ORCID record for Jun Wei [Opens in a new window] ,
Shizhao Zhang  and
Jianjun Zhang
Jun Wei*
Affiliation:
School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China Hebei Key Laboratory of Robot Perception and Human-Machine Integration, Tianjin, 300401, China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education, Tianjin, 300130, China
Shizhao Zhang
Affiliation:
School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China Hebei Key Laboratory of Robot Perception and Human-Machine Integration, Tianjin, 300401, China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education, Tianjin, 300130, China
Jianjun Zhang*
Affiliation:
School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China Hebei Key Laboratory of Robot Perception and Human-Machine Integration, Tianjin, 300401, China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education, Tianjin, 300130, China
*
Corresponding authors: Jun Wei; Email: jun.wei@hebut.edu.cn; Jianjun Zhang; Email: zhjjun@hebut.edu.cn
Corresponding authors: Jun Wei; Email: jun.wei@hebut.edu.cn; Jianjun Zhang; Email: zhjjun@hebut.edu.cn
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Abstract

In an effort to alleviate the issue of knee joint fatigue and injury during lower limb ambulation, a novel passive assisted exoskeleton robot with human–machine interaction is investigated to assist the movement of the human knee joint. The design of the exoskeleton configuration takes into consideration the physiological structure and gait function of the knee joint, ensuring that it satisfies the requirements for motion, force, and gait function of the knee joint. To explore the interaction between the wearer and the exoskeleton, a human–machine kinematic model after wearing exoskeleton is established, which is instrumental in analyzing the integration motion of the wearer and exoskeleton. In addition, the dynamic and static models of the knee joint after wearing the exoskeleton are established, utilizing the Newton–Euler method and force polygon method, respectively, to evaluate the effectiveness of the exoskeleton. Moreover, the size parameters and spring stiffness of the exoskeleton are optimized, using both human body kinematic model and mechanic model. Furthermore, the effectiveness of the exoskeleton in proving assistance is evaluated through human body simulation, using OpenSim. The results indicate that the exoskeleton significantly reduces the knee joint torque by 48.42%.

Keywords

passive assisted exoskeleton robotknee jointhuman–machine interactionOpenSim simulation
Type
Research Article
Information
Robotica , First View , pp. 1 - 27
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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