Development of Knee Joint Robot with Flexion, Extension and Rotation Movements – Experiments on Imitation of Knee Joint Movement of Healthy and Disable Persons
We have developed a knee joint robot as an educational simulation tool for students becoming physical therapists or occupational therapists. The knee joint robot (Knee Robo) has two degrees-of-freedom to simulate both flexion/extension movement and rotation movement of a human knee joint. This paper presents knee joint models of healthy and disabled persons for the Knee Robo. The Knee Robo can simulate screw home movement (SHM) in a human knee joint. Moreover, the Knee Robo can simulate knee joint movements of not only a healthy person but also a patient with knee joint troubles, such as range of motion (ROM) trouble, contracture, rigidity, spasticity and so on. The effectiveness of the knee joint models and the control algorithms have been verified experimentally.
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