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Design of a novel knee joint for an exoskeleton with good energy efficiency for load-carrying augmentation.

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Title: Design of a novel knee joint for an exoskeleton with good energy efficiency for load-carrying augmentation.
Authors: Kim, Hyo-gon1, Park, Sangdeok2, Han, Changsoo3 cshan@hanyang.ac.kr
Source: Journal of Mechanical Science & Technology. Nov2014, Vol. 28 Issue 11, p4361-4367. 7p.
Subjects: Robotic exoskeletons, Actuators, Assistive technology, Four-bar linkage, Human mechanics, MatLab (Computer software)
Abstract: When a linear actuator is used for rotation motion by a knee joint of an exoskeleton, the specifications of the joint range of motion (ROM) and joint torque change according to how the linear actuator are attached. Moreover, while the linear actuator generates a constant amount of force, the joint torque generated by the actuator changes according to the joint angle, which causes the torque contraction. This makes it difficult to meet the required torque and ROM for walk and stand-to-sit and sit-to-stand (STS) motions while carrying a load. To solve these problems we propose a novel knee joint for an exoskeleton with good energy efficiency during walk and STS motions while carrying a load. The mechanism is composed of a four-bar linkage and an elastic element. Based on an analysis of human motion, the design variables of the joint were optimized and the feasibility of the optimized variables was verified through the simulation. The findings from the simulation results suggest that combining a four-bar linkage with a linear actuator allows a large ROM and good torque performance of the knee joint for walk and STS motions. Moreover, the energy efficiency can be improved because the spring mounted parallel to the actuator can store the energy dissipated as negative work and recycle the energy as positive work. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Mechanical Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Design of a novel knee joint for an exoskeleton with good energy efficiency for load-carrying augmentation.
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  Data: <searchLink fieldCode="AR" term="%22Kim%2C+Hyo-gon%22">Kim, Hyo-gon</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Park%2C+Sangdeok%22">Park, Sangdeok</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22Han%2C+Changsoo%22">Han, Changsoo</searchLink><relatesTo>3</relatesTo><i> cshan@hanyang.ac.kr</i>
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  Data: <searchLink fieldCode="DE" term="%22Robotic+exoskeletons%22">Robotic exoskeletons</searchLink><br /><searchLink fieldCode="DE" term="%22Actuators%22">Actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Assistive+technology%22">Assistive technology</searchLink><br /><searchLink fieldCode="DE" term="%22Four-bar+linkage%22">Four-bar linkage</searchLink><br /><searchLink fieldCode="DE" term="%22Human+mechanics%22">Human mechanics</searchLink><br /><searchLink fieldCode="DE" term="%22MatLab+%28Computer+software%29%22">MatLab (Computer software)</searchLink>
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  Data: When a linear actuator is used for rotation motion by a knee joint of an exoskeleton, the specifications of the joint range of motion (ROM) and joint torque change according to how the linear actuator are attached. Moreover, while the linear actuator generates a constant amount of force, the joint torque generated by the actuator changes according to the joint angle, which causes the torque contraction. This makes it difficult to meet the required torque and ROM for walk and stand-to-sit and sit-to-stand (STS) motions while carrying a load. To solve these problems we propose a novel knee joint for an exoskeleton with good energy efficiency during walk and STS motions while carrying a load. The mechanism is composed of a four-bar linkage and an elastic element. Based on an analysis of human motion, the design variables of the joint were optimized and the feasibility of the optimized variables was verified through the simulation. The findings from the simulation results suggest that combining a four-bar linkage with a linear actuator allows a large ROM and good torque performance of the knee joint for walk and STS motions. Moreover, the energy efficiency can be improved because the spring mounted parallel to the actuator can store the energy dissipated as negative work and recycle the energy as positive work. [ABSTRACT FROM AUTHOR]
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  Label:
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  Data: <i>Copyright of Journal of Mechanical Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1007/s12206-014-1003-8
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      – Code: eng
        Text: English
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      – SubjectFull: Actuators
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      – SubjectFull: Assistive technology
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            NameFull: Park, Sangdeok
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            – D: 01
              M: 11
              Text: Nov2014
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