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Articular Geometry Reconstruction for Knee Joint with a Wearable Compliant Device

Published online by Cambridge University Press:  17 June 2019

Jiajie Guo Open the ORCID record for Jiajie Guo [Opens in a new window] ,
Zihang Wang ,
Jianyong Fu  and
Kok-Meng Lee
Jiajie Guo*
Affiliation:
State Key Lab of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Zihang Wang
Affiliation:
State Key Lab of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Jianyong Fu
Affiliation:
State Key Lab of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Kok-Meng Lee
Affiliation:
George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
*
*Corresponding author. E-mail: [email protected]
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Summary

Nonlinear articular geometries of biological joints have contributed to highly agile and adaptable human-body motions. However, human–machine interaction could potentially distort natural human motions if the artificial mechanisms overload the articular surfaces and constrain biological joint kinematics. It is desired to better understand the deformable articular geometries of biological joints in vivo during movements for design and control of wearable robotics. An articular geometry reconstruction method is proposed to measure the effective articular profile with a wearable compliant device and illustrated with its application to knee-joint kinematic analysis. Regarding the joint articulation as boundary constraints for the compliant mechanism, the equivalent articular geometry is constructed from the beam deformations driven by knee motions, where the continuous deformations are estimated with strain data from the embedded sensors. Both simulated analysis and experimental validation are presented to justify the proposed method.

Keywords

ExoskeletonsHuman biomechanicsHuman-machine interactionMechatronic systemsNovel applications of roboticsSensor networks
Type
Articles
Information
Robotica , Volume 37 , Special Issue 12: Wearable Robotics: Dynamics, Control and Applications , December 2019 , pp. 2104 - 2118
Copyright
© Cambridge University Press 2019 

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