Linear actuator–based knee exoskeleton for stand–sit–stand motions: a bond graph approach
2022 (English)In: Simulation (San Diego, Calif.), ISSN 0037-5497, E-ISSN 1741-3133, Vol. 98, no 8, p. 627-644Article in journal (Refereed) Published
Abstract [en]
People with knee disorders often find it difficult to perform common mobility tasks, such as stand–sit–stand motions. High knee torque is required to complete such transitions, as the chances of toppling increase during these motions. Most of the existing conventional approaches, such as wheelchairs and crutches, have failed to provide complete independence to the users. Conversely, contemporary systems like lower body exoskeletons which are bulky, complex, and expensive do not specifically target the knee joint instead of assisting other joints. Hence, there is a need to aid the knee joint using a robotic knee exoskeleton capable of accurately providing the desired knee torque. In the present work, to assist the user in performing the stand–sit–stand motions, an electromyography sensor-based four-bar knee exoskeleton actuated by a linear actuator is proposed. The modeling of the complete exoskeleton is developed using bond graph technique, as the components exist in different energy domains and it is possible to frame a dynamic bond graph model using only kinematic equations. The prototype is fabricated, and experiments are carried out on an artificial limb to prove the efficacy of the design of the current knee exoskeleton. The assistive torque developed by the actuator at the knee joint of the exoskeleton is found to be suitable to assist the wearer. As a result, little effort is required by the wearer for performing the stand–sit–stand motions. The rotation of the thigh link of the developed exoskeleton was found to be suitable for performing the stand–sit–stand activity.
Place, publisher, year, edition, pages
Sage , 2022. Vol. 98, no 8, p. 627-644
Keywords [en]
Knee exoskeleton, four-bar linkage, linear actuator, stand–sit–stand motion, bond graph modeling, experimental validation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hig:diva-37938DOI: 10.1177/00375497211073583ISI: 000751418700001Scopus ID: 2-s2.0-85124007439OAI: oai:DiVA.org:hig-37938DiVA, id: diva2:1637369
2022-02-142022-02-142022-06-30Bibliographically approved