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

^*此作品的通讯作者

机械工程及自动化学院

Capital Medical University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
出版商	Institute of Electrical and Electronics Engineers Inc.
页	2689-2693
页数	5
ISBN（电子版）	9781728163215
DOI	https://doi.org/10.1109/ROBIO49542.2019.8961783
出版状态	已出版 - 12月 2019
活动	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, 中国期限: 6 12月 2019 → 8 12月 2019

出版系列

姓名	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

会议

会议	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
国家/地区	中国
市	Dali
时期	6/12/19 → 8/12/19

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ROBIO49542.2019.8961783

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhang, W., Zhang, W., Ding, X., & Sun, L. (2019). Novel motor-free passive walk-assisting knee exoskeleton. 在 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (页码 2689-2693). 文章 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. 在 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., 页码 2689-2693, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, 中国, 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 等.
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 页码 2689-2693 8961783 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此