Design of bio-joint shaped knee exoskeleton assisting for walking and sit-to-stance
Type :
Book chapter
Publication Status :
Published
Access :
restrictedAccess
Abstract
In this study, a bio-joint shaped knee joint exoskeleton is presented. This design is meant for avoiding misalignment of the exoskeleton joint with the biological knee joint. For this purpose a cam mechanism has been designed to prevent the misalignment from translation of the femur on tibia. Additionally, walking and sit-to-stance is passively assisted with a spring element that is activated with the heel contact. A single spring is used for both walking and sit-to-stance, due to the similar characteristics of the gait cycle and initial phases of the sit-to-stance in joint stiffness.
Source :
International Symposium on Wearable Robotics
WeRob 2018: Wearable Robotics: Challenges and Trends, Part of the Biosystems & Biorobotics book series
Date :
2019
Volume :
22
Publisher :
Springer Nature
URI
http://hdl.handle.net/10679/7036http://link-springer-com-443.webvpn.fjmu.edu.cn/chapter/10.1007%2F978-3-030-01887-0_96
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