Passive knee exoskeleton using torsion spring for cycling assistance

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

研究成果: Conference contribution

19 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3069-3074
ページ数6
ISBN(電子版)9781538626825
DOI
出版ステータスPublished - 2017 12月 13
イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
継続期間: 2017 9月 242017 9月 28

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2017-September
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

フィンガープリント

「Passive knee exoskeleton using torsion spring for cycling assistance」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル