Abstract
Based on the bio-joint constraint formulated in Sect. 3.4, this chapter presents an anatomically-based knee model relaxing several commonly made assumptions that approximate a human knee as engineering pin-joint in exoskeleton design. Kinematics and dynamics are studied to investigate the effects of exoskeleton designs on the knee joint forces and torques. Then, an adaptive knee-joint exoskeleton is designed to eliminate negative effects associated with the closed leg-exoskeleton kinematic chain on a human knee.
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© 2019 Huazhong University of Science and Technology Press, Wuhan and Springer Nature Singapore Pte Ltd.
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Guo, J., Lee, KM. (2019). Bio-inspired Exoskeleton. In: Flexonics for Manufacturing and Robotics. Research on Intelligent Manufacturing. Springer, Singapore. https://doi.org/10.1007/978-981-13-2667-7_6
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DOI: https://doi.org/10.1007/978-981-13-2667-7_6
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Online ISBN: 978-981-13-2667-7
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