A Novel Method for Designing Motion Profiles Based on a Fuzzy Logic Algorithm Using the Hip Joint Angles of a Lower-Limb Exoskeleton Robot

Knee joint prototype based on cam mechanism - design and video analysis

The paper is focused on a design of mechanism accurately reproducing a complex motion in the sagittal plane of a human knee joint. The desired movement is modelled by applying specially designed shapes of cooperating cam elements based on the fixed and moving centroids of knee joint's instantaneous centre of rotation. The mechanism's CAD model and prototype are built using 3D printed elements, providing the possibility of interchanging the elements with cam profiles and adjusting the mechanism's movement to individual needs. The mechanism movement is measured by analysing a video in Matlab and tracking colour markers on the prototype.

Active Assistive Design and Multiaxis Self-Tuning Control of a Novel Lower Limb Rehabilitation Exoskeleton

This paper presented the mechanical design and control of a lower limb rehabilitation exoskeleton named “the second lower limb rehabilitation exoskeleton (LLRE-II)”. The exoskeleton with a lightweight mechanism comprises a 16-cm stepless adjustable thigh and calf rod. The LLRE-II weighs less than 16 kg and has four degrees of freedom on each leg, including the waist, hip, knee, and ankle, which ensures fitted wear and comfort. Motors and harmonic drives were installed on the joints of the hip and knee to operate the exoskeleton. Meanwhile, master and slave motor controllers were programmed using a Texas Instruments microcontroller (TMS320F28069) for the walking gait commands and evaluation boards (TMS320F28069/DRV8301) of the joints. A self-tuning multiaxis control system was developed, and the performance of the controller was investigated through experiments. The experimental results showed that the mechanical design and control system exhibit adequate performance. Trajectory tracking errors were eliminated, and the root mean square errors reduced from 6.45 to 1.22 and from 4.15 to 3.09 for the hip and knee, respectively.

Estimation of the Continuous Walking Angle of Knee and Ankle (Talocrural Joint, Subtalar Joint) of a Lower-Limb Exoskeleton Robot Using a Neural Network

A lower-limb exoskeleton robot identifies the wearer's walking intention and assists the walking movement through mechanical force; thus, it is important to be able to identify the wearer's movement in real-time. Measurement of the angle of the knee and ankle can be difficult in the case of patients who cannot move the lower-limb joint properly. Therefore, in this study, the knee angle as well as the angles of the talocrural and subtalar joints of the ankle were estimated during walking by applying the neural network to two inertial measurement unit (IMU) sensors attached to the thigh and shank. First, for angle estimation, the gyroscope and accelerometer data of the IMU sensor were obtained while walking at a treadmill speed of 1 to 2.5 km/h while wearing an exoskeleton robot. The weights according to each walking speed were calculated using a neural network algorithm programmed in MATLAB software. Second, an appropriate weight was selected according to the walking speed through the IMU data, and the knee angle and the angles of the talocrural and subtalar joints of the ankle were estimated in real-time during walking through a feedforward neural network using the IMU data received in real-time. We confirmed that the angle estimation error was accurately estimated as 1.69° ± 1.43 (mean absolute error (MAE) ± standard deviation (SD)) for the knee joint, 1.29° ± 1.01 for the talocrural joint, and 0.82° ± 0.69 for the subtalar joint. Therefore, the proposed algorithm has potential for gait rehabilitation as it addresses the difficulty of estimating angles of lower extremity patients using torque and EMG sensors.