Kinematic analysis and optimization of a planar parallel compliant mechanism for self-alignment knee exoskeleton
2018
Abstract. Misalignment between the instantaneous center of rotation
(ICR) of human joint and the ICR of wearable robotic exoskeleton widely
exists among most of exoskeletons widely used in rehabilitation, which
results in discomfort, even endangers human safety. In order to alleviate it,
this study focuses on the solution of misalignment in knee joint of lower
limb exoskeletons, and proposes a compliant five-bar parallel mechanism,
which offers two mobility in sagittal plane, as well as the torsional springs
mounted on this mechanism, have the potential to automatically adjust the ICR
of output link connected to thigh with respect to the basis link connected to
shank. To reach this goal, we build the stiffness model of the mechanism and
optimize its variables. And the self-alignment of the compliant five-bar
parallel mechanism is verified via experimental investigations.
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