Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Novel Kinematic Design of a Knee Orthosis to Allow Independent Actuations During Swing and Stance Phases

회전기 및 착지기 분리 구동을 가능케 하는 새로운 무릎 보장구의 기구부 설계

  • 표상훈 (경상대학교 기계항공공학부 항공기부품기술연구센터) ;
  • 김갑순 (경상대학교 제어계측공학과) ;
  • 윤정원 (경상대학교 기계항공공학부 항공기부품기술연구센터)
  • Received : 2011.02.11
  • Accepted : 2011.05.17
  • Published : 2011.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

Keywords

Acknowledgement

Supported by : 한국연구재단

References

  1. H. J. Lee and M. S. Lee, "Middle-aged patients after stroke- The process of adaptation," Journal of Nursing, Issue 36, Article 5, pp. 792-802, Aug. 2007.
  2. D. G. Kim, "Acute phase of stroke rehabilitation," The Annual Fall Meeting of the Korean Stroke Society, pp. 39-40, Oct. 2005.
  3. J. S. Sulzer, K. E. Gordon, T. G. Hornby, and M. Peshkin, J. L. Patton, "Adaptation to flexion torque during gait," 11th IEEE International Conference on Rehabilitation Robotics, pp. 23-26, 2009. https://doi.org/10.1109/ICORR.2009.5209499
  4. D. Jin, R. Zhang, H. O. Dimo, R. Wang, and J. Zhang, "Kinematic and dynamic performance of prosthetic knee joint using six-bar mechanism," Journal of Rehabilitation Research and Development, vol. 40, no. 1, pp. 39-48, 2003. https://doi.org/10.1682/JRRD.2003.01.0039
  5. S. K. Banala and S. K. Agrawal, "Gait rehabilitation with an active leg orthosis," International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 7, no. DETC2005-85071, pp. 459-465, 2005.
  6. J. E. Pratt, B. T. Krupp, C. J. Morse, and S. H. Collins, "The roboknee: an exoskeleton for enhancing strength and endurance during walking," Proc. of the 2004 IEEE International Conference on Robotics & Automation, pp. 2430-2435, 2004. https://doi.org/10.1109/ROBOT.2004.1307425
  7. M. S. Zihlmann, H. Gerber, A. Stacoff, K. Burckhardt, G. Sze´kely, and E. Stu¨ssi, "Three-dimensional kinematics and kinetics of total knee arthroplasty during level walking using single plane video-fluoroscopy and force plates: A pilot study," Gait & Posture, vol. 24, no. 4, pp. 475-481, 2006. https://doi.org/10.1016/j.gaitpost.2005.12.012
  8. M. $Biseevi{\ae}$, D. $Tomi{\ae}$, V. Starc, and D. Smrke, "Gender differences in knee kinematics and its possible consequences," Croat Med, pp. 253-260, June 2009.
  9. J. R. Gage, P. A. Deluca, and T. S. Renshaw, "Gait analysis: principles and applications," Journal of Bone & Joint Surgery, vol. 77-A, no. 10, pp. 1607-1623, Oct. 1995.
  10. P. R. Poletto, H. H. Santos, T. F. Salvini, H. J. Coury, and G. A. Hansson, "Peak torque and knee kinematics during gait after eccentric isokinetic training of quadriceps in healthy subjects," Rev. bras. fisioter, vol. 12, no. 4, pp. 331-337, 2008. https://doi.org/10.1590/S1413-35552008000400013
  11. D. Zhao, S. A. Banks, Kim H. Mitchell, Darryl D. D' Lima, C. W. Colwell Jr, and B. J. Fregly, "Correlation between the knee adduction torque and medial contact force for a variety of gait patterns," Journal of Orthopaedic Research, Oct. 2006.

Cited by

  1. Optimal Design of a Novel Knee Orthosis using a Genetic Algorism vol.17, pp.10, 2011, https://doi.org/10.5302/J.ICROS.2011.17.10.1021
  2. Development of an Active Gait Assistive Device with Haptic Information vol.21, pp.6, 2015, https://doi.org/10.5302/J.ICROS.2015.15.9028