Novel motor-free passive walk-assisting knee exoskeleton

Wei Zhang; Wuxiang Zhang; Xilun Ding; Lei Sun

doi:10.1109/ROBIO49542.2019.8961783

Novel motor-free passive walk-assisting knee exoskeleton

Wei Zhang^*
, Wuxiang Zhang
, Xilun Ding
, Lei Sun

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Capital Medical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we present the design of a novel quasi-passive motor-free orthosis that realizing the compensation of knee joint supporting force during the weight acceptance phase and almost free motion during the swing phase. We explain that the normal knee landing motion is approximately a linear spring through the motion curve, so a suitable linear spring for the knee joint in parallel can achieve an approximate natural response. We show a compound mechanism based on ratchet and cam, which makes springs with different stiffness parallel in support and swing phases, and explain how to design mechanism parameters in switching process. This mechanism is a passive motor-free exoskeleton with automatic switching spring stiffness. It is lightweight and has no energy consumption.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2689-2693
Number of pages	5
ISBN (Electronic)	9781728163215
DOIs	https://doi.org/10.1109/ROBIO49542.2019.8961783
State	Published - Dec 2019
Event	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China Duration: 6 Dec 2019 → 8 Dec 2019

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/Territory	China
City	Dali
Period	6/12/19 → 8/12/19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Exoskeleton
Motor-free
Variable stiffness

Access to Document

10.1109/ROBIO49542.2019.8961783

Cite this

Zhang, W., Zhang, W., Ding, X., & Sun, L. (2019). Novel motor-free passive walk-assisting knee exoskeleton. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 2689-2693). Article 8961783 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961783

@inproceedings{a6427585dde14208b6fa085b1c53f386,

title = "Novel motor-free passive walk-assisting knee exoskeleton",

abstract = "In this paper, we present the design of a novel quasi-passive motor-free orthosis that realizing the compensation of knee joint supporting force during the weight acceptance phase and almost free motion during the swing phase. We explain that the normal knee landing motion is approximately a linear spring through the motion curve, so a suitable linear spring for the knee joint in parallel can achieve an approximate natural response. We show a compound mechanism based on ratchet and cam, which makes springs with different stiffness parallel in support and swing phases, and explain how to design mechanism parameters in switching process. This mechanism is a passive motor-free exoskeleton with automatic switching spring stiffness. It is lightweight and has no energy consumption.",

keywords = "Exoskeleton, Motor-free, Variable stiffness",

author = "Wei Zhang and Wuxiang Zhang and Xilun Ding and Lei Sun",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",

year = "2019",

month = dec,

doi = "10.1109/ROBIO49542.2019.8961783",

language = "英语",

series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2689--2693",

booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

address = "美国",

}

Zhang, W , Zhang, W , Ding, X & Sun, L 2019, Novel motor-free passive walk-assisting knee exoskeleton. in IEEE International Conference on Robotics and Biomimetics, ROBIO 2019., 8961783, IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Institute of Electrical and Electronics Engineers Inc., pp. 2689-2693, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, 6/12/19. https://doi.org/10.1109/ROBIO49542.2019.8961783

Novel motor-free passive walk-assisting knee exoskeleton. / Zhang, Wei ; Zhang, Wuxiang ; Ding, Xilun et al.
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2689-2693 8961783 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Novel motor-free passive walk-assisting knee exoskeleton

AU - Zhang, Wei

AU - Zhang, Wuxiang

AU - Ding, Xilun

AU - Sun, Lei

PY - 2019/12

Y1 - 2019/12

N2 - In this paper, we present the design of a novel quasi-passive motor-free orthosis that realizing the compensation of knee joint supporting force during the weight acceptance phase and almost free motion during the swing phase. We explain that the normal knee landing motion is approximately a linear spring through the motion curve, so a suitable linear spring for the knee joint in parallel can achieve an approximate natural response. We show a compound mechanism based on ratchet and cam, which makes springs with different stiffness parallel in support and swing phases, and explain how to design mechanism parameters in switching process. This mechanism is a passive motor-free exoskeleton with automatic switching spring stiffness. It is lightweight and has no energy consumption.

AB - In this paper, we present the design of a novel quasi-passive motor-free orthosis that realizing the compensation of knee joint supporting force during the weight acceptance phase and almost free motion during the swing phase. We explain that the normal knee landing motion is approximately a linear spring through the motion curve, so a suitable linear spring for the knee joint in parallel can achieve an approximate natural response. We show a compound mechanism based on ratchet and cam, which makes springs with different stiffness parallel in support and swing phases, and explain how to design mechanism parameters in switching process. This mechanism is a passive motor-free exoskeleton with automatic switching spring stiffness. It is lightweight and has no energy consumption.

KW - Exoskeleton

KW - Motor-free

KW - Variable stiffness

UR - https://www.scopus.com/pages/publications/85079061467

U2 - 10.1109/ROBIO49542.2019.8961783

DO - 10.1109/ROBIO49542.2019.8961783

M3 - 会议稿件

AN - SCOPUS:85079061467

T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

SP - 2689

EP - 2693

BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Y2 - 6 December 2019 through 8 December 2019

ER -

Novel motor-free passive walk-assisting knee exoskeleton

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

Other files and links

Fingerprint

Cite this