Abstract
Quasi-passive or passive mechanisms used for exoskeleton robots for load-carrying augmentation have been developed for reducing development cost, robot weight, and external energy consumption for augmentation. These mechanisms have been developed based on biomechanical analyses of specific motions; however, few mechanisms do not include mechanical elements, such as springs and dampers. In this paper, a movable instantaneous center of rotation (M-ICR) linkage mechanism developed for the knee in the lower extremity exoskeleton without using mechanical elements is presented. Wearability and augmentation functions are considered. Based on these functions, design optimization is achieved using the PIAnO tool. To verify the augmentation function, the Solidworks tool is used. To verify the effectiveness of the M-ICR knee mechanism, oxygen consumption and the vertical ground reaction force are measured while walking with a barbell (0 kg, 10 kg, 20 kg) and while standing with a grinder with and without wearing the exoskeleton robot.
Similar content being viewed by others
Abbreviations
- \(M_{k}\) :
-
The moment of the human’s knee joint
- \(F_{G}\) :
-
The ground reaction force vector
- \(V_{x} , V_{y}\) :
-
x, y components of ground reaction force vector
- \(L_{1} , L_{2} , L_{3} , L_{4}\) :
-
Links of the M-ICR knee mechanism
- \(l_{1} , l_{2} , l_{3}\) :
-
Link lengths of the M-ICR knee mechanism
- \(\theta_{c} , \theta_{23}\) :
-
Cam angle and included angle between \(l_{2}\) and \(l_{3}\)
- \(x_{1} , y_{1}\) :
-
x and y coordinate of left joint of link \(L_{2}\) (\(P_{1}\))
- \(x_{2} , y_{2}\) :
-
x and y coordinate of right joint of link \(L_{2}\) (\(P_{2}\))
- \(RA_{x} , RA_{y}\) :
-
x and y coordinate of robot’s ankle joint in swing phase
- \(HA_{x} , HA_{y}\) :
-
x and y coordinate of human’s ankle joint in swing phase
References
SPINE-health. Causes and diagnosis of lower back strain. https://www.spine-health.com/conditions/lower-back-pain/causes-and-diagnosis-lower-back-strain.
Army Technology. Raytheon XOS 2 exoskeleton, second-generation robotics suit. https://www.army-technology.com/-projects/raytheon-xos-2-exoskeleton-us/.
Adam, A. B., Kazerooni, H., & Chu, A. (2006). Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX). IEEE/ASME Transactions on Mechatronics,11(2), 128–138.
Kim, W. S., Lee, H. D., Kim, D. H., Han, J. S., & Han, C. S. (2014). Mechanical design of the Hanyang exoskeleton assistive robot (HEXAR). In 14th International conference on control, automation and systems (pp. 479–484).
Bosch, T., van Eck, J., Knnitel, K., & de Loze, M. (2016). The effects of a passive exoskeleton on muscle activity, discomfort and endurance time in forward bending work. Applied Ergonomics,54, 212–217.
Young, A. J., & Ferris, D. P. (2017). State of the art and future directions for lower limb robotic exoskeletons. IEEE Transactions on Neural Systems and Rehabilitation Engineering,25(2), 171–182.
Wiggin, M. B., Sawicki, G. S., & Collins S. H. (2011). An exoskeleton using controlled energy storage and release to aid ankle propulsion. In IEEE international conference on rehabilitation robotics.
Shamaei, K., Cenciarini, M., Adams, A. A., Gregorczyk, K. N., Schiffman, J. M., & Dollar, A. M. (2014). Design and evaluation of a quasi-passive knee exoskeleton for investigation of motor adaptation in lower extremity joints. IEEE Transactions on Biomedical Engineering,61(6), 1809–1821.
Olinski, M., Gronowicz, A., Handke, A., & Ceccarelli, M. (2016). Design and characterization of a novel knee articulation mechanism. International Journal of Applied Mechanics and Engineering,21(3), 611–622.
Walsh, C. J., Endo, K., & Herr, H. (2007). A quasi-passive leg exoskeleton for load-carrying augmentation. International Journal of Humanoid Robotics,4(3), 487–506.
Ayyappa, E. (1997). Normal human locomotion, part 2: Motion, ground-reaction force and muscle activity. Journal of Prosthetics and Orthotics,9(2), 49–57.
Lusardi, M., Jorge, M. & Nielsen, C. (2012). Orthotics and prosthetics in rehabilitation (pp. 105–106). Elsevier.
Lim, D. H. (2018). Gait control based on a disturbance observer to improve the gait synchronization of a lower extremity exoskeleton robot. Thesis for the Doctor of Philosophy, 2018.
Freudenstein, F., & Woo, L. S. (1969). Kinematics of the human knee joint. The Bulletin of Mathematical Biophysics,31(2), 2015–2232.
Ramakrishnan, T., Schlafly, M., & Reed, K. B. (2016). Biomimetic transfemoral knee with a gear mesh locking mechanism. International Journal of Engineering Research and Innovation,8(2), 30–38.
Radcliffe, C. W. (1994). Four-bar linkage prosthetic knee mechanisms: Kinematics, alignment and prescription criteria. Prosthetics and Orthotics International,18(3), 159–173.
Gard, S. A., Childress, D. S., & Uellendahl, J. E. (1996). The influence of four-bar linkage knees on prosthetic swing-phase floor clearance. Journal of Prosthetics and Orthotics,8(2), 34–40.
PIAnO User’s Manual Version 3.5, PIDOTECH Inc., (2013).
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Electronic supplementary material
Below is the link to the electronic supplementary material.
Supplementary material 1 (MP4 8051 kb)
Rights and permissions
About this article
Cite this article
Kim, HJ., Lim, DH., Kim, WS. et al. Development of a Passive Modular Knee Mechanism for a Lower Limb Exoskeleton Robot and Its Effectiveness in the Workplace. Int. J. Precis. Eng. Manuf. 21, 227–236 (2020). https://doi.org/10.1007/s12541-019-00217-7
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12541-019-00217-7