NDLI: Design of a novel knee joint for an exoskeleton with good energy efficiency for load-carrying augmentation

Content Provider	Springer Nature Link
Author	Kim, Hyo gon Park, Sangdeok Han, Changsoo
Copyright Year	2014
Abstract	When a linear actuator is used for rotation motion by a knee joint of an exoskeleton, the specifications of the joint range of motion (ROM) and joint torque change according to how the linear actuator are attached. Moreover, while the linear actuator generates a constant amount of force, the joint torque generated by the actuator changes according to the joint angle, which causes the torque contraction. This makes it difficult to meet the required torque and ROM for walk and stand-to-sit and sit-to-stand (STS) motions while carrying a load. To solve these problems we propose a novel knee joint for an exoskeleton with good energy efficiency during walk and STS motions while carrying a load. The mechanism is composed of a four-bar linkage and an elastic element. Based on an analysis of human motion, the design variables of the joint were optimized and the feasibility of the optimized variables was verified through the simulation. The findings from the simulation results suggest that combining a four-bar linkage with a linear actuator allows a large ROM and good torque performance of the knee joint for walk and STS motions. Moreover, the energy efficiency can be improved because the spring mounted parallel to the actuator can store the energy dissipated as negative work and recycle the energy as positive work.
Starting Page	4361
Ending Page	4367
Page Count	7
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	28
Issue Number	11
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2015-01-22
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Exoskeleton Four-bar linkage Elastic element PEA Optimization Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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