Design and analysis of Lower Limb Rehabilitation Exoskeleton knee joint actuator

DOI

10.2991/jimec-18.2018.70How to use a DOI?

Keywords

Exoskeleton; Parallel four-bar linkage; Knee; ADAMS simulation

Abstract

In order to obtain a knee joint actuator with small volume, light weight and easy control, we analyzed the advantages and disadvantages of the knee joint actuators, the motion laws and motion forms of the human knee joints. We designed an exoskeleton knee actuator actuated by parallel four bar linkage. The motion of the knee joint of the exoskeleton adopts parallel four-bar linkage to ensure the linear motion of the knee joint while reducing the volume of the whole actuator. In this paper, we analyzed the kinematics of parallel four-bar linkage, and the motion characteristics of the mechanism, simulated the whole knee actuator, drew a diagram of the relation between the rotation angle of the knee joint, angular acceleration and screw displacement.

Copyright

© 2019, 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  - Chen Yuliang
AU  - Cao Heng
AU  - Zhu Jun
AU  - Mo Songhai
PY  - 2018/12
DA  - 2018/12
TI  - Design and analysis of Lower Limb Rehabilitation Exoskeleton knee joint actuator
BT  - Proceedings of the 2018 3rd Joint International Information Technology，Mechanical and Electronic Engineering Conference (JIMEC 2018)
PB  - Atlantis Press
SP  - 329
EP  - 334
SN  - 2589-4943
UR  - https://doi.org/10.2991/jimec-18.2018.70
DO  - 10.2991/jimec-18.2018.70
ID  - Yuliang2018/12
ER  -