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MS | Articles | Volume 9, issue 2
Mech. Sci., 9, 405-416, 2018
https://doi.org/10.5194/ms-9-405-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
Mech. Sci., 9, 405-416, 2018
https://doi.org/10.5194/ms-9-405-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.

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 et al.
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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, https://doi.org/10.1177/0278364910385730, 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, 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. 
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. 
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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.
In rehabilitation, the widely existing misalignment between human limb and exoskeleton causes...
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