4.1 Article

Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

Journal

Publisher

SAGE PUBLICATIONS INC
DOI: 10.5772/60782

Keywords

Exoskeleton Robot; Knee Assistive Device; Rehabilitation Robot; Foot Pressure Sensor; Walking Assistance Control

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Funding

  1. Translational Research Center for Rehabilitation Robots, Korea National Rehabilitation Center, Ministry of Health and Welfare, Republic of Korea
  2. Human Resources Development Program of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) - Ministry of Trade, Industry and Energy, Republic of Korea [20134010200580]
  3. Korea Evaluation Institute of Industrial Technology (KEIT) [20134010200580] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)

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This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing, walking and sitting motion controls while wearing the knee exoskeleton.

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