Abdullah, A., Jayachandran, J.T., Xie, S. Q. et al. (1 more author) (2024) Instantaneous Center of Rotation Trajectory Tracking of A Novel Five-bar Robotic Exoskeleton for Knee Rehabilitation. In: 2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). 2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 03-05 Oct 2024, Leeds, United Kingdom. IEEE ISBN 979-8-3503-9192-3
Abstract
Knee Exoskeletons provide a way to restore the quality of life in people with knee disorders or after injury. One of the major limitations of these exoskeletons is to mimic the natural polycentric knee joint motion. The design and performance analysis of a novel five-bar mechanism is proposed in this study which can be used in a knee exoskeleton. The purpose of this study was to analyze the instantaneous center of rotation trajectory of the five-bar mechanism mimicking the natural knee center of rotation trajectory during sit to stand motion and compare it with similar existing mechanisms. The position analysis of the mechanism in a simplified configuration and the actual hardware configuration was performed for analyzing the center of rotation trajectory, both theoretically and using a dedicated tool respectively. The motion and the center of rotation trajectory of five-bar mechanism was validated, and the results of the study are presented which show the successful tracking of the reference Instantaneous center of rotation with an error as low as 0.14mm for the simplified configuration and 0.24mm for the actual configuration. These results were then compared with different bar mechanisms showing that our five-bar mechanism had better tracking performance among the available rigid mechanisms.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Instantaneous center of rotation (ICR), Five-bar Linkage Mechanism, Kinematics, Exoskeletons, Trajectory tracking |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Biological Sciences (Leeds) > School of Biomedical Sciences (Leeds) |
Funding Information: | Funder Grant number ESRC (Economic and Social Research Council) ES/W006499/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 14 Nov 2024 10:16 |
Last Modified: | 22 Nov 2024 13:19 |
Published Version: | https://ieeexplore.ieee.org/document/10745996 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/M2VIP62491.2024.10745996 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:219648 |