|
KMID : 1123420160100010022
|
|
Journal of Korean Society for Prosthetics and Orthotics
2016 Volume.10 No. 1 p.22 ~ p.27
|
|
|
Advantages on Application of Double Four Bar Polycentric Structure for Powered Knee Orthosis
|
|
Jung Kyung-Mo
Hyun Dong-Jin
|
|
|
Abstract
|
|
|
|
This paper introduces the novel design for an powered knee orthosis. This powered orthosis adopts a double four-bar based polycentric mechanism. The mechanical structure provides several advantages related to 1) human-robot knee alignment for walking motion, 2) stance stability in the initial stance phase, 3) angle-dependent variable speed amplification ratio, 4) reduction of total moment of the knee orthosis. These four advantages address efficient torque transmission, high control bandwidth, and reduction of inconvenient interactive forces between the orthosis and its wearer. The simple experiments were conducted to verify trajectory-following performance of the developed orthosis. In result, the orthosis showed dynamic performance to follow a natural human walking, taking addressed advantages.
|
|
|
KEYWORD
|
|
|
Modular knee exoskeleton, Powered knee orthosis, Polycentric mechanism, Double 4 bar structure, Impedance control
|
|
|
FullTexts / Linksout information
|
|
|
|
|
|
Listed journal information
|
|
|
|