Bioinspired Knee Joint for a Power-Assist Suit
Movement of the knee joint of a human includes rolling and sliding. There also exist rotations in the frontal and horizontal planes. To assist the standing movement of a human, we developed a bioinspired knee joint and torque adjustment mechanism. We evaluated the motion, torque characteristics, and...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2016/3613715 |
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| _version_ | 1849413354506944512 |
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| author | Takehito Kikuchi Kohei Sakai Isao Abe |
| author_facet | Takehito Kikuchi Kohei Sakai Isao Abe |
| author_sort | Takehito Kikuchi |
| collection | DOAJ |
| description | Movement of the knee joint of a human includes rolling and sliding. There also exist rotations in the frontal and horizontal planes. To assist the standing movement of a human, we developed a bioinspired knee joint and torque adjustment mechanism. We evaluated the motion, torque characteristics, and stress of the developed mechanism. This joint allows deep flexion of the knee with small resistance for both the user and the device. In addition, in spite of 33% error in deep flexion, the measured torque over less than 120 degrees fits the designed torque curve. We conducted evaluation tests for a human subject. The electromyogram (EMG) of musculus rectus femoris was measured during standing with or without the assistance. The result shows 30% and 63% reduction with the assistance from 100-degree and 80-degree knee angles, respectively. In addition, the proposed device reduced up to 80% of stress in the frontal plane during standing. |
| format | Article |
| id | doaj-art-6c85d22debb44aa7b70ef269a560dbda |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-6c85d22debb44aa7b70ef269a560dbda2025-08-20T03:34:09ZengWileyJournal of Robotics1687-96001687-96192016-01-01201610.1155/2016/36137153613715Bioinspired Knee Joint for a Power-Assist SuitTakehito Kikuchi0Kohei Sakai1Isao Abe2Oita University, Dannoharu 700, Oita 870-1192, JapanOita University, Dannoharu 700, Oita 870-1192, JapanOita University, Dannoharu 700, Oita 870-1192, JapanMovement of the knee joint of a human includes rolling and sliding. There also exist rotations in the frontal and horizontal planes. To assist the standing movement of a human, we developed a bioinspired knee joint and torque adjustment mechanism. We evaluated the motion, torque characteristics, and stress of the developed mechanism. This joint allows deep flexion of the knee with small resistance for both the user and the device. In addition, in spite of 33% error in deep flexion, the measured torque over less than 120 degrees fits the designed torque curve. We conducted evaluation tests for a human subject. The electromyogram (EMG) of musculus rectus femoris was measured during standing with or without the assistance. The result shows 30% and 63% reduction with the assistance from 100-degree and 80-degree knee angles, respectively. In addition, the proposed device reduced up to 80% of stress in the frontal plane during standing.http://dx.doi.org/10.1155/2016/3613715 |
| spellingShingle | Takehito Kikuchi Kohei Sakai Isao Abe Bioinspired Knee Joint for a Power-Assist Suit Journal of Robotics |
| title | Bioinspired Knee Joint for a Power-Assist Suit |
| title_full | Bioinspired Knee Joint for a Power-Assist Suit |
| title_fullStr | Bioinspired Knee Joint for a Power-Assist Suit |
| title_full_unstemmed | Bioinspired Knee Joint for a Power-Assist Suit |
| title_short | Bioinspired Knee Joint for a Power-Assist Suit |
| title_sort | bioinspired knee joint for a power assist suit |
| url | http://dx.doi.org/10.1155/2016/3613715 |
| work_keys_str_mv | AT takehitokikuchi bioinspiredkneejointforapowerassistsuit AT koheisakai bioinspiredkneejointforapowerassistsuit AT isaoabe bioinspiredkneejointforapowerassistsuit |