Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic Analysis
Lower-limb exoskeletons enhance motor function in patients, benefiting both clinical rehab and daily activities. Nevertheless, pediatric exoskeletons remain largely underdeveloped. To address this gap, this study presents a new robotic lower-limb exoskeleton (LLE) design specifically tailored for ch...
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10286847/ |
| _version_ | 1827783696093020160 |
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| author | Mohammadhadi Sarajchi Konstantinos Sirlantzis |
| author_facet | Mohammadhadi Sarajchi Konstantinos Sirlantzis |
| author_sort | Mohammadhadi Sarajchi |
| collection | DOAJ |
| description | Lower-limb exoskeletons enhance motor function in patients, benefiting both clinical rehab and daily activities. Nevertheless, pediatric exoskeletons remain largely underdeveloped. To address this gap, this study presents a new robotic lower-limb exoskeleton (LLE) design specifically tailored for children. Utilizing anthropometric data from the target demographic, the LLE has a size-adjustable design to accommodate children aged 8 to 12. The design incorporates six active joints at the hip and knee, actuated using Brushless DC motors in conjunction with Harmonic Drive gears. This study conducts a rigorous analysis of forward and inverse kinematics applied to the robotic LLE. While forward kinematics are essential for dynamic modeling and model-based control formulation, inverse kinematics play a crucial role in facilitating balance control. The study uses an algebraic-geometric method to solve the inverse kinematics of LLEs with four DOFs per leg, including one in the frontal plane and three in the sagittal plane. A unique model of validation and verification is then employed using the Simulink® and SimscapeTM computational environments. The accuracy of the forward kinematic analysis is confirmed by comparing separately modeled outcomes in both environments. The validity of the inverse kinematic model is verified by implementing sequential forward and inverse kinematic analyses, comparing the forward kinematic inputs with inverse kinematic outputs. Simulation results conclusively validate both the forward and inverse kinematic analyses, suggesting the exoskeleton’s potential in accommodating standard gait patterns. |
| first_indexed | 2024-03-11T15:51:06Z |
| format | Article |
| id | doaj.art-8f4de20b4f954ef29c6f57adc6105403 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T15:51:06Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-8f4de20b4f954ef29c6f57adc61054032023-10-25T23:01:12ZengIEEEIEEE Access2169-35362023-01-011111521911523010.1109/ACCESS.2023.332521110286847Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic AnalysisMohammadhadi Sarajchi0https://orcid.org/0000-0001-5185-6165Konstantinos Sirlantzis1https://orcid.org/0000-0002-0847-8880School of Engineering, University of Kent, Canterbury, U.KSchool of Engineering, Technology and Design, Canterbury Christ Church University, Canterbury, U.KLower-limb exoskeletons enhance motor function in patients, benefiting both clinical rehab and daily activities. Nevertheless, pediatric exoskeletons remain largely underdeveloped. To address this gap, this study presents a new robotic lower-limb exoskeleton (LLE) design specifically tailored for children. Utilizing anthropometric data from the target demographic, the LLE has a size-adjustable design to accommodate children aged 8 to 12. The design incorporates six active joints at the hip and knee, actuated using Brushless DC motors in conjunction with Harmonic Drive gears. This study conducts a rigorous analysis of forward and inverse kinematics applied to the robotic LLE. While forward kinematics are essential for dynamic modeling and model-based control formulation, inverse kinematics play a crucial role in facilitating balance control. The study uses an algebraic-geometric method to solve the inverse kinematics of LLEs with four DOFs per leg, including one in the frontal plane and three in the sagittal plane. A unique model of validation and verification is then employed using the Simulink® and SimscapeTM computational environments. The accuracy of the forward kinematic analysis is confirmed by comparing separately modeled outcomes in both environments. The validity of the inverse kinematic model is verified by implementing sequential forward and inverse kinematic analyses, comparing the forward kinematic inputs with inverse kinematic outputs. Simulation results conclusively validate both the forward and inverse kinematic analyses, suggesting the exoskeleton’s potential in accommodating standard gait patterns.https://ieeexplore.ieee.org/document/10286847/Forward kinematicsinverse kinematicskinematic analysislower-limb exoskeletonwearable robotics |
| spellingShingle | Mohammadhadi Sarajchi Konstantinos Sirlantzis Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic Analysis IEEE Access Forward kinematics inverse kinematics kinematic analysis lower-limb exoskeleton wearable robotics |
| title | Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic Analysis |
| title_full | Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic Analysis |
| title_fullStr | Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic Analysis |
| title_full_unstemmed | Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic Analysis |
| title_short | Pediatric Robotic Lower-Limb Exoskeleton: An Innovative Design and Kinematic Analysis |
| title_sort | pediatric robotic lower limb exoskeleton an innovative design and kinematic analysis |
| topic | Forward kinematics inverse kinematics kinematic analysis lower-limb exoskeleton wearable robotics |
| url | https://ieeexplore.ieee.org/document/10286847/ |
| work_keys_str_mv | AT mohammadhadisarajchi pediatricroboticlowerlimbexoskeletonaninnovativedesignandkinematicanalysis AT konstantinossirlantzis pediatricroboticlowerlimbexoskeletonaninnovativedesignandkinematicanalysis |