Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications
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...
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| Published in | Mathematical problems in engineering Vol. 2015; no. 2015; pp. 1 - 14 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Cairo, Egypt
Hindawi Publishing Corporation
01.01.2015
John Wiley & Sons, Inc |
| Subjects | |
| Online Access | Get full text |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Rodríguez-Leal, Ernesto Piña-Martínez, Eduardo |
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| Cites_doi | 10.1109/TNSRE.2008.2008285 10.1109/TMECH.2007.901934 10.1109/tnsre.2011.2176960 10.1109/TNSRE.2011.2163083 10.1109/tnsre.2014.2364618 10.1243/09544119jeim561 |
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| Copyright | Copyright © 2015 Eduardo Piña-Martínez and Ernesto Rodriguez-Leal. Copyright © 2015 Eduardo Piña-Martinez and Ernesto Rodriguez-Leal. Eduardo Piña-Martinez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
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| References | (1) 2007; 12 Indego Indego—Powering People Forward, Parker Indego 2014 http://www.indego.com/indego/en/home Lopez R. Aguilar-Sierra H. Salazar S. Lozano R. Model and control of the ELLTIO with two degrees of freedom Proceedings of the 17th International Conference on System Theory, Control and Computing (ICSTCC '13) October 2013 Sinaia, Romania IEEE 305 310 10.1109/icstcc.2013.6688977 2-s2.0-84893233441 Bortole M. del Ama A. Rocon E. Moreno J. C. Brunetti F. Pons J. L. A robotic exoskeleton for overground gait rehabilitation Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '13) May 2013 3356 3361 10.1109/icra.2013.6631045 2-s2.0-84887280208 (21) 2009; 223 HOCOMA Lokomat—Hocoma, 2014, http://www.hocoma.com/products/lokomat Murray S. Goldfarb M. Towards the use of a lower limb exoskeleton for locomotion assistance in individuals with neuromuscular locomotor deficits Proceedings of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS '12) September 2012 San Diego, Calif, USA IEEE 1912 1915 10.1109/embc.2012.6346327 2-s2.0-84870777541 Farris R. J. Quintero H. A. Goldfarb M. Performance evaluation of a lower limb exoskeleton for stair ascent and descent with Paraplegia Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '12) August-September 2012 San Diego, Calif, USA IEEE 1908 1911 10.1109/embc.2012.6346326 (5) 2011; 19 Miranda A. B. W. Yasutomi A. Y. Souit C. Forner-Cordero A. Bioinspired mechanical design of an upper limb exoskeleton for rehabilitation and motor control assessment Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob '12) June 2012 1776 1781 10.1109/biorob.2012.6290811 2-s2.0-84867417203 van Ham R. Vanderborght B. van Damme M. Verrelst B. Lefeber D. MACCEPA: The mechanically adjustable compliance and controllable equilibrium position actuator for ‘Controlled Passive Walking’ Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '06) May 2006 2195 2200 10.1109/robot.2006.1642029 2-s2.0-33845659138 Robotics R. ReWalk, 2014, http://www.rewalk.com Berkeley Exoskeletons: Berkeley Robotics & Human Engineering Laboratory 2014 http://bleex.me.berkeley.edu/research/exoskeleton (2) 2012; 20 Rex Bionics Group Rex Bionics—Step into the Future 2014 http://www.rexbionics.com Tsukahara A. Hasegawa Y. Sankai Y. Gait support for complete spinal cord injury patient by synchronized leg-swing with HAL Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) September 2011 1737 1742 10.1109/iros.2011.6048498 2-s2.0-84455175222 (13) 2015; 23 Zhu Y. Cui J. Zhao J. Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO '13) December 2013 1119 1124 10.1109/robio.2013.6739614 2-s2.0-84898810895 Kazerooni H. Exoskeletons for human power augmentation Proceedings of the IEEE IRS/RSJ International Conference on Intelligent Robots and Systems (IROS '05) August 2005 3120 3125 10.1109/iros.2005.1545451 2-s2.0-34247254826 Hassan M. Kadone H. Suzuki K. Sankai Y. Exoskeleton robot control based on cane and body joint synergies Proceedings of the 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems (IROS '12) October 2012 1609 1614 10.1109/iros.2012.6386248 2-s2.0-84872314873 Ekso-Bionics Ekso Bionics—Exoskeleton, wearable robot for people with paralysis from SCI or stroke, 2014, http://www.eksobionics.com/ekso Beer F. P. Johnston E. R. Clausen W. E. Cinemática de cuerpos rígidos Mecánica Vectorial para Ingenieros: Dinámica 2007 8th Mizoguchi H. Asano Y. Izawa T. Osada M. Urata J. Nakanishi Y. Okada K. Inaba M. Biomimetic design and implementation of muscle arrangement around hip joint for musculoskeletal humanoid Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO '11) December 2011 1819 1824 10.1109/robio.2011.6181554 2-s2.0-84860749869 Honda Honda—Walk Assist And Mobility Devices, 2014, http://corporate.honda.com/innovation/walk-assist (3) 2009; 17 Zhu J. Wang Q. Huang Y. Wang L. Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '11) May 2011 Shanghai, China IEEE 605 610 10.1109/icra.2011.5980054 2-s2.0-84871686388 1 2 13 (15) 2014 3 (17) 2014 5 (26) 2007 (20) 2014 21 |
| References_xml | – reference: Murray S. Goldfarb M. Towards the use of a lower limb exoskeleton for locomotion assistance in individuals with neuromuscular locomotor deficits Proceedings of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS '12) September 2012 San Diego, Calif, USA IEEE 1912 1915 10.1109/embc.2012.6346327 2-s2.0-84870777541 – reference: Berkeley Exoskeletons: Berkeley Robotics & Human Engineering Laboratory 2014 http://bleex.me.berkeley.edu/research/exoskeleton/ – reference: Miranda A. B. W. Yasutomi A. Y. Souit C. Forner-Cordero A. Bioinspired mechanical design of an upper limb exoskeleton for rehabilitation and motor control assessment Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob '12) June 2012 1776 1781 10.1109/biorob.2012.6290811 2-s2.0-84867417203 – reference: Bortole M. del Ama A. Rocon E. Moreno J. C. Brunetti F. Pons J. L. A robotic exoskeleton for overground gait rehabilitation Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '13) May 2013 3356 3361 10.1109/icra.2013.6631045 2-s2.0-84887280208 – reference: Lopez R. Aguilar-Sierra H. Salazar S. Lozano R. Model and control of the ELLTIO with two degrees of freedom Proceedings of the 17th International Conference on System Theory, Control and Computing (ICSTCC '13) October 2013 Sinaia, Romania IEEE 305 310 10.1109/icstcc.2013.6688977 2-s2.0-84893233441 – volume: 223 start-page: 919 issue: 8 year: 2009 end-page: 939 ident: 21 article-title: Biomimetics—a review – volume: 12 start-page: 408 issue: 4 year: 2007 end-page: 417 ident: 1 article-title: Upper-limb powered exoskeleton design – reference: Honda Honda—Walk Assist And Mobility Devices, 2014, http://corporate.honda.com/innovation/walk-assist/ – reference: Zhu Y. Cui J. Zhao J. Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO '13) December 2013 1119 1124 10.1109/robio.2013.6739614 2-s2.0-84898810895 – reference: Beer F. P. Johnston E. R. Clausen W. E. Cinemática de cuerpos rígidos Mecánica Vectorial para Ingenieros: Dinámica 2007 8th – reference: Rex Bionics Group Rex Bionics—Step into the Future 2014 http://www.rexbionics.com/ – reference: Kazerooni H. Exoskeletons for human power augmentation Proceedings of the IEEE IRS/RSJ International Conference on Intelligent Robots and Systems (IROS '05) August 2005 3120 3125 10.1109/iros.2005.1545451 2-s2.0-34247254826 – volume: 19 start-page: 652 issue: 6 year: 2011 end-page: 659 ident: 5 article-title: Preliminary evaluation of a powered lower limb orthosis to aid walking in paraplegic individuals – reference: Farris R. J. Quintero H. A. Goldfarb M. Performance evaluation of a lower limb exoskeleton for stair ascent and descent with Paraplegia Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '12) August-September 2012 San Diego, Calif, USA IEEE 1908 1911 10.1109/embc.2012.6346326 – reference: Robotics R. ReWalk, 2014, http://www.rewalk.com/ – reference: van Ham R. Vanderborght B. van Damme M. Verrelst B. Lefeber D. MACCEPA: The mechanically adjustable compliance and controllable equilibrium position actuator for ‘Controlled Passive Walking’ Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '06) May 2006 2195 2200 10.1109/robot.2006.1642029 2-s2.0-33845659138 – reference: Ekso-Bionics Ekso Bionics—Exoskeleton, wearable robot for people with paralysis from SCI or stroke, 2014, http://www.eksobionics.com/ekso – volume: 20 start-page: 68 issue: 1 year: 2012 end-page: 77 ident: 2 article-title: Inertia compensation control of a one-degree-of-freedom exoskeleton for lower-limb assistance: initial experiments – reference: Mizoguchi H. Asano Y. Izawa T. Osada M. Urata J. Nakanishi Y. Okada K. Inaba M. Biomimetic design and implementation of muscle arrangement around hip joint for musculoskeletal humanoid Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO '11) December 2011 1819 1824 10.1109/robio.2011.6181554 2-s2.0-84860749869 – reference: HOCOMA Lokomat—Hocoma, 2014, http://www.hocoma.com/products/lokomat/ – reference: Hassan M. Kadone H. Suzuki K. Sankai Y. Exoskeleton robot control based on cane and body joint synergies Proceedings of the 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems (IROS '12) October 2012 1609 1614 10.1109/iros.2012.6386248 2-s2.0-84872314873 – reference: Tsukahara A. Hasegawa Y. Sankai Y. Gait support for complete spinal cord injury patient by synchronized leg-swing with HAL Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) September 2011 1737 1742 10.1109/iros.2011.6048498 2-s2.0-84455175222 – reference: Indego Indego—Powering People Forward, Parker Indego 2014 http://www.indego.com/indego/en/home – volume: 17 start-page: 31 issue: 1 year: 2009 end-page: 37 ident: 3 article-title: Medial gastrocnemius myoelectric control of a robotic ankle exoskeleton – reference: Zhu J. Wang Q. Huang Y. Wang L. Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '11) May 2011 Shanghai, China IEEE 605 610 10.1109/icra.2011.5980054 2-s2.0-84871686388 – volume: 23 start-page: 308 issue: 2 year: 2015 end-page: 318 ident: 13 article-title: Restoration of gait for spinal cord injury patients using HAL with intention estimator for preferable swing speed – year: 2014 ident: 20 – ident: 3 doi: 10.1109/TNSRE.2008.2008285 – year: 2014 ident: 17 – ident: 1 doi: 10.1109/TMECH.2007.901934 – year: 2014 ident: 15 – ident: 2 doi: 10.1109/tnsre.2011.2176960 – ident: 5 doi: 10.1109/TNSRE.2011.2163083 – volume-title: Cinemática de cuerpos rígidos year: 2007 ident: 26 – ident: 13 doi: 10.1109/tnsre.2014.2364618 – ident: 21 doi: 10.1243/09544119jeim561 |
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| SubjectTerms | Ankle Axes of rotation Design Design engineering Exoskeletons Gait Human Human performance Joints (anatomy) Kinematics Knee Knees Mathematical models Robotics Rotating bodies Vision systems |
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| Title | Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications |
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