Design of a 6 d.o.f active exoskeleton for the functional rehabilitation of human knee joint
Corressponding author's email:
dung.cai@eiu.edu.vnKeywords:
Knee functional rehabilitation, Lower limb exoskeleton, Isotatic mechanisms for anatomical joints, Knee joint kinematics, Interaction torque controlAbstract
This paper describes the design of a knee joint active exoskeleton. The device has one motorized degree of freedom to create motions at the knee level of the user. It is also equipped with a torque sensor and a set of optical encoders (position sensors) which allow the system to operate both in passive and active modes. In passive mode, the device provides motions according to a preprogrammed trajectory, meanwhile providing measuring data of the knee kinematics as well as of the interaction torque that is transmitted from the device to the knee. In active mode, the interaction torque is controlled in closed-loop, allowing the system to provide resistive or assistive torques to the knee during its motions. The design comprises the use of 3 prismatic and 3 rotative mechanical joints that together form 6 degrees of freedom serial kinematic chain, eliminating then all residual force/torque components which may constraint the natural motion of the user’s knee.
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