Biomechanical Joint Design of Patient-Specific Rehabilitative Knee Exoskeletons for Misalignment Correction

Chih Yu Chen, Julia Martins Frejat, Ravi Vaidyanathan, Klaus Drechsler

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

Wearable robots, or exoskeletons, are solutions for rehabilitation and assisted motion. One of the challenges in designing a patient-specific knee exoskeleton is the complexity of the human knee joint. A single revolute joint cannot fully mimic the motion of a human knee, potentially causing misalignment between the exoskeleton and the human limbs. This human-exoskeleton misalignment then generates undesired interaction forces onto human limbs and hinders the agility of movement. This paper introduces a novel approach to designing a patient-specific biomechanical knee joint with a grooved cam. The joint design uses motion capture data of individual patients to generate cam profiles that allow for simultaneous rotational and translational motion in the designed system. Two biomechanical joints were designed for two subjects using the proposed design method. The designed cam joints were experimentally evaluated against a single-degree-of-freedom knee joint on both subjects as a proof of concept. The results demonstrate that the cam profiles were adequately generated, and the resulting joints effectively reduce misalignment compared to a single revolute joint.

OriginalspracheEnglisch
Titel2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
Herausgeber (Verlag)IEEE Computer Society
Seiten801-805
Seitenumfang5
ISBN (elektronisch)9798350386523
DOIs
PublikationsstatusVeröffentlicht - 2024
Veranstaltung10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 - Heidelberg, Deutschland
Dauer: 1 Sept. 20244 Sept. 2024

Publikationsreihe

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Konferenz

Konferenz10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
Land/GebietDeutschland
OrtHeidelberg
Zeitraum1/09/244/09/24

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