Journal
ROBOTICA
Volume 37, Issue 12, Pages 2104-2118Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574719000778
Keywords
Exoskeletons; Human biomechanics; Human-machine interaction; Mechatronic systems; Novel applications of robotics; Sensor networks
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Funding
- National Natural Science Foundation of China [51875221, 51505164, U1713204]
- International Science & Technology Cooperation Program of China [2016YFE0113600]
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Nonlinear articular geometries of biological joints have contributed to highly agile and adaptable human-body motions. However, human-machine interaction could potentially distort natural human motions if the artificial mechanisms overload the articular surfaces and constrain biological joint kinematics. It is desired to better understand the deformable articular geometries of biological joints in vivo during movements for design and control of wearable robotics. An articular geometry reconstruction method is proposed to measure the effective articular profile with a wearable compliant device and illustrated with its application to knee-joint kinematic analysis. Regarding the joint articulation as boundary constraints for the compliant mechanism, the equivalent articular geometry is constructed from the beam deformations driven by knee motions, where the continuous deformations are estimated with strain data from the embedded sensors. Both simulated analysis and experimental validation are presented to justify the proposed method.
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