Design and Optimization of Lower Limb Rehabilitation Exoskeleton with a Multiaxial Knee Joint

• Published in: Biomimetics (Basel, Switzerland) Vol. 8; no. 2; p. 156
• Main Authors: Jiang, Jiandong, Chen, Peisong, Peng, Jiyu, Qiao, Xin, Zhu, Fengle, Zhong, Jiang
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 14.04.2023; MDPI
• Subjects: Adaptability; Ankle; Anthropomorphism; Design; Design and construction; Exoskeleton; Gait; gait analysis; Hip joint; Kinematics; Knee; knee movement; lower limb exoskeleton; multi-objective optimization; Optimization; Physiology; Prostheses; Rehabilitation; Robotics; Robots; Stroke; United States; knee movement; multi-objective optimization; lower limb exoskeleton; gait analysis; design

To facilitate rehabilitation training for patients, we proposed the implementation of an anthropomorphic exoskeleton structure that incorporates a variable instantaneous center of rotation (ICR). This design considers the variability in knee ICR among individuals, resulting from the irregular form o...