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Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications
Joint Authors
Piña-Martínez, Eduardo
Rodríguez-Leal, Ernesto
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-06-29
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
Current trends in Robotics aim to close the gap that separates technology and humans, bringing novel robotic devices in order to improve human performance.
Although robotic exoskeletons represent a breakthrough in mobility enhancement, there are design challenges related to the forces exerted to the users’ joints that result in severe injuries.
This occurs due to the fact that most of the current developments consider the joints as noninvariant rotational axes.
This paper proposes the use of commercial vision systems in order to perform biomimetic joint design for robotic exoskeletons.
This work proposes a kinematic model based on irregular shaped cams as the joint mechanism that emulates the bone-to-bone joints in the human body.
The paper follows a geometric approach for determining the location of the instantaneous center of rotation in order to design the cam contours.
Furthermore, the use of a commercial vision system is proposed as the main measurement tool due to its noninvasive feature and for allowing subjects under measurement to move freely.
The application of this method resulted in relevant information about the displacements of the instantaneous center of rotation at the human knee joint.
American Psychological Association (APA)
Piña-Martínez, Eduardo& Rodríguez-Leal, Ernesto. 2015. Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1072998
Modern Language Association (MLA)
Piña-Martínez, Eduardo& Rodríguez-Leal, Ernesto. Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications. Mathematical Problems in Engineering No. 2015 (2015), pp.1-14.
https://search.emarefa.net/detail/BIM-1072998
American Medical Association (AMA)
Piña-Martínez, Eduardo& Rodríguez-Leal, Ernesto. Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1072998
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1072998