Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

Jung Hoon Kim, Myounghoon Shim, Dong Hyun Ahn, Byoung Jong Son, Suk Young Kim, Deog Young Kim, Yoon Su Baek, Baek Kyu Cho

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing walking and sitting motion controls while wearing the knee exoskeleton.

Original languageEnglish
Article number112
JournalInternational Journal of Advanced Robotic Systems
Volume12
Issue number8
DOIs
Publication statusPublished - 2015 Aug 20

Fingerprint

Torque
Sensors
Force control
Position control
Finite automata
Motion control
Resistors
Damping
Robots
Hardware
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Science Applications
  • Artificial Intelligence

Cite this

Kim, Jung Hoon ; Shim, Myounghoon ; Ahn, Dong Hyun ; Son, Byoung Jong ; Kim, Suk Young ; Kim, Deog Young ; Baek, Yoon Su ; Cho, Baek Kyu. / Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors. In: International Journal of Advanced Robotic Systems. 2015 ; Vol. 12, No. 8.
@article{d110ccd45cc14d6d8ac7ae6f0740b9c2,
title = "Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors",
abstract = "This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing walking and sitting motion controls while wearing the knee exoskeleton.",
author = "Kim, {Jung Hoon} and Myounghoon Shim and Ahn, {Dong Hyun} and Son, {Byoung Jong} and Kim, {Suk Young} and Kim, {Deog Young} and Baek, {Yoon Su} and Cho, {Baek Kyu}",
year = "2015",
month = "8",
day = "20",
doi = "10.5772/60782",
language = "English",
volume = "12",
journal = "International Journal of Advanced Robotic Systems",
issn = "1729-8806",
publisher = "Vienna University of Technology",
number = "8",

}

Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors. / Kim, Jung Hoon; Shim, Myounghoon; Ahn, Dong Hyun; Son, Byoung Jong; Kim, Suk Young; Kim, Deog Young; Baek, Yoon Su; Cho, Baek Kyu.

In: International Journal of Advanced Robotic Systems, Vol. 12, No. 8, 112, 20.08.2015.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

AU - Kim, Jung Hoon

AU - Shim, Myounghoon

AU - Ahn, Dong Hyun

AU - Son, Byoung Jong

AU - Kim, Suk Young

AU - Kim, Deog Young

AU - Baek, Yoon Su

AU - Cho, Baek Kyu

PY - 2015/8/20

Y1 - 2015/8/20

N2 - This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing walking and sitting motion controls while wearing the knee exoskeleton.

AB - This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing walking and sitting motion controls while wearing the knee exoskeleton.

UR - http://www.scopus.com/inward/record.url?scp=84994508627&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84994508627&partnerID=8YFLogxK

U2 - 10.5772/60782

DO - 10.5772/60782

M3 - Article

AN - SCOPUS:84994508627

VL - 12

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

SN - 1729-8806

IS - 8

M1 - 112

ER -