Articles | Volume 9, issue 2
https://doi.org/10.5194/ms-9-405-2018
https://doi.org/10.5194/ms-9-405-2018
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

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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, https://doi.org/10.1109/ROMAN.2012.6343807, 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. 
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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.