Articles | Volume 9, issue 2
Research article
20 Nov 2018
Research article |  | 20 Nov 2018

Kinematic analysis and optimization of a planar parallel compliant mechanism for self-alignment knee exoskeleton

Yijun Niu, Zhibin Song, and Jiansheng Dai

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Cited articles

Accoto, D., Sergi, F., Tagliamonte, N. L., Carpino, G., Sudano, A., and Guglielmelli, E.: Robomorphism: a nonanthropomorphic wearable robot, IEEE Robot. Autom. Mag., 21, 45–55, 2014. 
Aguirre-Ollinger, G., Colgate, J. E., Peshkin, M. A., and Goswami, A.: Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation, Int. J. Robot. Res., 30, 486–499,, 2011. 
Akiyama, Y., Yamada, Y., Ito, K., Oda, S., Okamoto, S., and Hara, S.: Test method for contact safety assessment of a wearable robot-analysis of load caused by a misalignment of the knee joint, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, 539–544,, 2012. 
Andriacchi, T. P., Alexander, E. J., Toney, M. K., Dyrby, C., and Sum, J.: A point cluster method for in vivo motion analysis: applied to a study of knee kinematics, J. Biomech. Eng., 120, 743–749, 1998. 
Cai, D., Bidaud, P., Hayward, V., and Gosselin, F.: Design of self-adjusting orthoses for rehabilitation, Proceedings of the 14th IASTED International Conference Robotics and Applications, Cambridge, MA, USA, 2–4 November 2009, 215–223, 2009. 
Short summary
In rehabilitation, the widely existing misalignment between human limb and exoskeleton causes discomfort even danger. To alleviate the misalignment in lower extremity exoskeleton, this study proposes a compliant parallel mechanism, which has the potential to automatically change its configuration to make exoskeleton knee joint fit the human joint movements. And the self-alignment performance of the mechanism is validated via conducting a series of experiments under different working conditions.