A biomimicking design for mechanical knee joints
| Autor: | Ravi Vaidyanathan, Peter Ellison, William Hey, Felix Russell, Yipeng Zhu |
|---|---|
| Přispěvatelé: | Engineering & Physical Science Research Council (EPSRC), Engineering & Physical Science Research Council (E |
| Rok vydání: | 2018 |
| Předmět: |
030506 rehabilitation
Technology Knee Joint Computer science Physiology C-LEG 02 engineering and technology Walking Biochemistry 09 Engineering Engineering Biomimetic Materials Biomimetics robotics Materials Science Biomaterials 02 Physical Sciences condylar knee Biomechanics Robotics Structural engineering Biomechanical Phenomena ligaments medicine.anatomical_structure Ligament Molecular Medicine 0305 other medical science EXTENSION Biotechnology musculoskeletal diseases 0206 medical engineering Materials Science Biophysics Engineering Multidisciplinary FLEXION biomechanics 03 medical and health sciences POWER KNEE above knee prostheses medicine Torque Humans CRUCIATE LIGAMENTS Engineering (miscellaneous) Joint (geology) Science & Technology business.industry 06 Biological Sciences 020601 biomedical engineering Moment (mathematics) lower limb Artificial intelligence Stress Mechanical business Actuator human activities |
| Zdroj: | Bioinspirationbiomimetics. 13(5) |
| ISSN: | 1748-3190 |
| Popis: | In this paper we present a new bioinspired bicondylar knee joint that requires a smaller actuator size when compared to a constant moment arm joint. Unlike existing prosthetic joints, the proposed mechanism replicates the elastic, rolling and sliding elements of the human knee. As a result, the moment arm that the actuators can impart on the joint changes as function of the angle, producing the equivalent of a variable transmission. By employing a similar moment arm-angle profile as the human knee the peak actuator force for stair ascent can be reduced by 12% compared to a constant moment arm joint addressing critical impediments in weight and power for robotics limbs. Additionally, the knee employs mechanical 'ligaments' containing stretch sensors to replicate the neurosensory and compliant elements of the joint. We demonstrate experimentally how the ligament stretch can be used to estimate joint angle, therefore overcoming the difficulty of sensing position in a bicondylar joint. |
| Databáze: | OpenAIRE |
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