Design of an Active Exoskeleton Robot to Assist Human Knee Motion

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Rezvani Ardestani, Sanaz Sadat | 2015

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Type of Document: M.Sc. Thesis
Language: English
Document No: 47253 (58)
University: Sharif University of Technology, International Campus, Kish Island
Department: Science and Engineering
Advisor(s): Zohoor, Hassan
Abstract:
Nowadays nearly 1% of the world population depends on wheelchairs for walking and movement. Due to harmful changes in human lifestyle, different diseases like stroke and problems in musculoskeletal system are increasing noticeably. Despite the fact that wheelchairs have recently been improved they have faced big problems like forcing people not to move and just sit for a long period of time. Wearable robots not only help these patients to rehabilitate their disabled organ and walk, but also have a significant mental effect on them.
The analysis of an exoskeletal orthosis designed for patients who have pain in one of their knees is presented. A mechanism for knee exoskeleton is analyzed both kinematically and dynamically. The mechanism has two linear actuators for resembling behavior of Quadriceps and Hamstring muscles, two of the most important muscles participating in human gait. The motion of the knee mechanism is simulated for a complete gait cycle. Then the force analysis is done using Newton-Euler equations in order to determine the actuation force needed to emulate human knee motion
Keywords:
Knee ; Locomotion ; Exoskeleton ; Rehabilitation Robots ; Rehabilitation ; Newton-Euler Approach

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