Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability
文献类型：期刊论文
| 作者 | Li, Guotao4 ; Liang, Xu3; Lu, Huijuan2; Su, Tingting1; Hou, Zeng-Guang4
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| 刊名 | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
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| 出版日期 | 2024 |
| 卷号 | 32页码:472-481 |
| ISSN号 | 1534-4320 |
| 关键词 | Exoskeletons Knee Hip Kinematics Iron Torque Legged locomotion Knee exoskeleton self-aligning mechanism kinematic compatibility optimization |
| DOI | 10.1109/TNSRE.2024.3354806 |
| 通讯作者 | Liang, Xu(liangxu2013@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn) |
| 英文摘要 | The self-aligning capability of an exoskeleton is important to ensure wearing comfort, and the delicate motion ability of the exoskeleton is essential for motion assistance. Designing a self-aligning exoskeleton that offers improved wearing comfort and enhanced motion-assistance functions remains a challenge. This paper proposes a novel spatial self-aligning mechanism for a knee exoskeleton to enable simultaneous assistance in the flexion and extension (FE) of the knee joint and the internal and external rotation (IER) of the hip joint. Additionally, considering the misalignment of the human-robot joint axes, a kinematic model of the knee exoskeleton is established and analyzed to demonstrate the kinematic compatibility of the exoskeleton. Furthermore, a global torque manipulability (GTM) index is proposed to evaluate the effects of dimensional parameters on the exoskeleton's performance, and then the knee exoskeleton is optimized according to the GTM index. Finally, experiments are conducted to validate the performance of the proposed exoskeleton. The experimental results show that during knee FE and hip IER, the proposed exoskeleton exhibits lower interaction forces and torques than existing exoskeletons. |
| WOS关键词 | INDEX FINGER EXOSKELETON ; GAIT REHABILITATION ; DESIGN ; ASSISTANCE ; JOINT ; PERFORMANCE ; LIGHTWEIGHT ; MECHANISM ; IMPROVES ; COMFORT |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Engineering ; Rehabilitation |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:001152269400002 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55567]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Liang, Xu; Hou, Zeng-Guang |
| 作者单位 | 1.Beijing Univ Technol, Fac Informat Technol, Beijing 100022, Peoples R China 2.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100041, Peoples R China 3.Beijing Jiaotong Univ, Sch Automat & Intelligence, Beijing, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Guotao,Liang, Xu,Lu, Huijuan,et al. Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability[J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,2024,32:472-481. |
| APA | Li, Guotao,Liang, Xu,Lu, Huijuan,Su, Tingting,&Hou, Zeng-Guang.(2024).Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,32,472-481. |
| MLA | Li, Guotao,et al."Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability".IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 32(2024):472-481. |
入库方式： OAI收割
来源：自动化研究所
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