Structural Design of a Novel Wearable Knee Exoskeleton

DOI

10.2991/icmse-18.2018.68How to use a DOI?

Keywords

Human - machine compatibility, Knee rehabilitation, Exoskeleton, Self-aligning

Abstract

Based on the structure characteristics of the human physiological knee joints during the flexion and extension movements，we design a self-aligning wearable knee exoskeleton mechanism considering the principle of human - machine compatibility. The mechanism's mathematical model is established using the D-H notation, then the kinematic analysis is carried out by MATLAB and the workspace of the mechanism is calculated. The computational results show that the workspace of the human knee joint's microscopic mechanism during the flexion and extension movements is contained within the that of self-aligning knee joint exoskeleton. Therefore the research will provide a novel type of wearable knee exoskeleton with fewer side effects for medical rehabilitation patients.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xiaolu Tang
AU  - Lumin Chen
PY  - 2018/05
DA  - 2018/05
TI  - Structural Design of a Novel Wearable Knee Exoskeleton
BT  - Proceedings of the 2018 8th International Conference on Manufacturing Science and Engineering (ICMSE 2018)
PB  - Atlantis Press
SP  - 348
EP  - 353
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmse-18.2018.68
DO  - 10.2991/icmse-18.2018.68
ID  - Tang2018/05
ER  -