TY - GEN
T1 - Multi-objective optimization of force transmission quality and joint misalignment of a 5-Bar knee exoskeleton
AU - Asker, Ahmed
AU - Xie, Shengquan
AU - Dehghani-Sanij, Abbas A.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/12
Y1 - 2021/7/12
N2 - The ability to follow a normal anatomical motion is one of the fundamental design requirements of wearable exoskeleton. Human knee motion is a combination of sliding and rolling actions, which can not be replicated by a simple kinematic pair with a fixed rotation axis. In this paper, a polycentric robotic knee exoskeleton is designed based on the 5-bar mechanism (5- BM) to reproduce knee motion. The Genetic Algorithm finds the optimum parameters of the 5-BM by minimizing a weighted cost function which consists of the average Joint Force Index (JFI) and the misalignment between the centre of rotation of the exoskeleton and the user's knee. An average and maximum ICR error of 0. 16mm and 0. 43mm is obtained by the optimized 5-BM. It yielded an average actuation toque of 7. 33N.m and JFI of 4.88 compared to 217. 73N.m and 6.04 obtained by the widely used 4-BM.
AB - The ability to follow a normal anatomical motion is one of the fundamental design requirements of wearable exoskeleton. Human knee motion is a combination of sliding and rolling actions, which can not be replicated by a simple kinematic pair with a fixed rotation axis. In this paper, a polycentric robotic knee exoskeleton is designed based on the 5-bar mechanism (5- BM) to reproduce knee motion. The Genetic Algorithm finds the optimum parameters of the 5-BM by minimizing a weighted cost function which consists of the average Joint Force Index (JFI) and the misalignment between the centre of rotation of the exoskeleton and the user's knee. An average and maximum ICR error of 0. 16mm and 0. 43mm is obtained by the optimized 5-BM. It yielded an average actuation toque of 7. 33N.m and JFI of 4.88 compared to 217. 73N.m and 6.04 obtained by the widely used 4-BM.
UR - https://www.scopus.com/pages/publications/85114962601
U2 - 10.1109/AIM46487.2021.9517444
DO - 10.1109/AIM46487.2021.9517444
M3 - 会议稿件
AN - SCOPUS:85114962601
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 122
EP - 127
BT - 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Y2 - 12 July 2021 through 16 July 2021
ER -