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.
Bibliographical noteFunding Information:
This study was supported by a grant from the Translational Research ?enter for Rehabilitation Robots, Korea National Rehabilitation ?enter, Ministry of Health and Welfare, Republic of Korea.
© 2015 Author(s).
All Science Journal Classification (ASJC) codes
- Computer Science Applications
- Artificial Intelligence