Passive knee exoskeleton using torsion spring for cycling assistance

Ronnapee Chaichaowarat, Diego Felipe Paez Granados, Jun Kinugawa, Kazuhiro Kosuge

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

8 Citations (Scopus)

Abstract

In this paper, we introduce a concept of passive knee exoskeleton for cycling assistance. Considering a knee moment and a knee angle varying with a pedal crank angle, the knee extension moment can be supported by a torsion spring storing energy from knee flexion in order to release it as the knee is extended. The reduction of knee extension effort is corresponding to the torsion spring stiffness and activation range. Exoskeleton prototypes were developed for the concept validation. A crossing four-bar mechanism was chosen for the knee joint to provide kinematic compatibility covering extreme knee flexion. Constant power cycling experiment was performed on a cycling trainer by a healthy subject wearing the exoskeletons on both legs. With the torsion spring support, the surface electromyography recorded from some major leg muscles shows the decrease of knee extensor muscle activity as the leg is moving around the pedal crank top dead center. Verifying the reduction of leg muscle fatigue over repetitive contractions in multiple subjects is our future plan of study.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3069-3074
Number of pages6
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period17/9/2417/9/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Chaichaowarat, R., Granados, D. F. P., Kinugawa, J., & Kosuge, K. (2017). Passive knee exoskeleton using torsion spring for cycling assistance. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3069-3074). [8206146] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206146