Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function
A knee exoskeleton with an adaptive instantaneous rotation center and impact absorption is used for rehabilitation. Due to the human knee joint’s special physiological structure and motion characteristics, the exoskeleton mechanism needs to be designed for both static and dynamic aspects. Therefore,...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/24/8390 |
| _version_ | 1797500811726553088 |
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| author | Yapeng Wang Wei Zhang Di Shi Yunhai Geng |
| author_facet | Yapeng Wang Wei Zhang Di Shi Yunhai Geng |
| author_sort | Yapeng Wang |
| collection | DOAJ |
| description | A knee exoskeleton with an adaptive instantaneous rotation center and impact absorption is used for rehabilitation. Due to the human knee joint’s special physiological structure and motion characteristics, the exoskeleton mechanism needs to be designed for both static and dynamic aspects. Therefore, a novel knee exoskeleton mechanism was designed. To adapt to the rotation center of the knee joint, a mechanism with cross-configuration was designed according to the equivalent degree of freedom and the stiffness of the springs was calculated by its combination with gait motion, so that the average force of the human body was minimized. A dynamic model of the exoskeleton was established. To overcome the uncertainty in the parameters of the human and robotic limbs, an adaptive controller was designed and a Lyapunov stability analysis was conducted to verify the system. A simulation was conducted and experimental results show that the tracking error of the knee joint angle between the actual and desired trajectory was within the range of −1 to 1 degree and indicate the effectiveness of the controller. |
| first_indexed | 2024-03-10T03:09:13Z |
| format | Article |
| id | doaj.art-f4d26885cf174ad2a5f88094e0af0050 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:09:13Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-f4d26885cf174ad2a5f88094e0af00502023-11-23T10:30:51ZengMDPI AGSensors1424-82202021-12-012124839010.3390/s21248390Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering FunctionYapeng Wang0Wei Zhang1Di Shi2Yunhai Geng3Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaResearch Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, ChinaA knee exoskeleton with an adaptive instantaneous rotation center and impact absorption is used for rehabilitation. Due to the human knee joint’s special physiological structure and motion characteristics, the exoskeleton mechanism needs to be designed for both static and dynamic aspects. Therefore, a novel knee exoskeleton mechanism was designed. To adapt to the rotation center of the knee joint, a mechanism with cross-configuration was designed according to the equivalent degree of freedom and the stiffness of the springs was calculated by its combination with gait motion, so that the average force of the human body was minimized. A dynamic model of the exoskeleton was established. To overcome the uncertainty in the parameters of the human and robotic limbs, an adaptive controller was designed and a Lyapunov stability analysis was conducted to verify the system. A simulation was conducted and experimental results show that the tracking error of the knee joint angle between the actual and desired trajectory was within the range of −1 to 1 degree and indicate the effectiveness of the controller.https://www.mdpi.com/1424-8220/21/24/8390knee exoskeletonadaptive mechanismjoint center compensation |
| spellingShingle | Yapeng Wang Wei Zhang Di Shi Yunhai Geng Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function Sensors knee exoskeleton adaptive mechanism joint center compensation |
| title | Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function |
| title_full | Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function |
| title_fullStr | Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function |
| title_full_unstemmed | Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function |
| title_short | Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function |
| title_sort | design and control of an adaptive knee joint exoskeleton mechanism with buffering function |
| topic | knee exoskeleton adaptive mechanism joint center compensation |
| url | https://www.mdpi.com/1424-8220/21/24/8390 |
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