Design and evaluation of a knee support exoskeleton using variable non-active interval for energy storage

Vincent Babin, Diego Felipe Paez Granados, Jun Kinugawa, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes the design and the experimental testing of a knee exoskeleton with variable non-active interval (NAI) specifically designed to fit the human gait. This exoskeleton is designed to provide support at the knee joint by supplying assistive torque around the knee in order to reduce the maximum muscular effort required to perform daily activities such as walking and squat lifting, thus, enabling users like elderly people to continue those activities longer. The main mechanism of the exoskeleton behaves like a torsion spring with a variable NAI. The torque provided by the mechanism outside the NAI is quasi-linear with respect to the angle variation. The position of this NAI can be modified to disable the mechanism. Moreover, the angular stiffness of the mechanism can be modified to adapt the magnitude of the support to the user. Experimental evaluation was conducted in two phases: during the first one, the NAI was tested for following the walking pattern of the user, in order to avoid disturbing the user's gait. During the second one, the performance of the support provided by the device was measured by the muscle activity during squatting series. The results show the ability to modify the position of the NAI and a decrease of the maximum muscle activity during squatting while wearing the device, concluding that the exoskeleton could assist the knee joint although further evaluation is required to establish the whole support in the gait cycle.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1354-1359
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 2018 Aug 30
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 2018 Jul 92018 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period18/7/918/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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  • Cite this

    Babin, V., Granados, D. F. P., Kinugawa, J., & Kosuge, K. (2018). Design and evaluation of a knee support exoskeleton using variable non-active interval for energy storage. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1354-1359). [8452252] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452252