Abstract
Employing six-bar linkages for knee orthoses is an advantageous choice in many ways. In relation to four-bar linkages the six-bar linkage tracks more accurately the natural ankle trajectory and provides more flexibility in the design for stability. Additionally, the 1-DOF mobility of linkages alongside the available moment leverage offers advantages in cost-effectiveness over open-kinematic-chain designs.
This work presents the analysis as well as the design and optimization considerations of a knee orthosis that is based on a Watt’s six-bar linkage. The main aim is to lay the foundations for analytical design and development of a knee orthosis that is cost-effective, self-cancelling and optimized for passive-active energy exchange as well as energy harvesting and return.
The authors wish to acknowledge Alfonso Hernández, CompMech, Department of Mechanical Engineering, UPVEHU for the permission to use the GIM® software. (www.ehu.es/compmech).
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Xydas, E., Abdikadirova, B., Konstantinos, K. (2019). Synthesis and Optimization Considerations for a Knee Orthosis Based on a Watt’s Six-Bar Linkage. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_4
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DOI: https://doi.org/10.1007/978-3-030-01887-0_4
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