scholarly journals Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

2015 ◽  
Vol 2015 ◽  
pp. 1-14 ◽  
Author(s):  
Eduardo Piña-Martínez ◽  
Ernesto Rodriguez-Leal
Keyword(s):  
Knee Joint ◽  
Vision System ◽  
Kinematic Model ◽  
Measurement Tool ◽  
Vision Systems ◽  
Severe Injuries ◽  
Center Of Rotation ◽  
Human Knee ◽  
Human Knee Joint ◽  
Instantaneous Center

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.

A Spatial Mechanism With Higher Pairs for Modelling the Human Knee Joint

2003 ◽  
Vol 125 (2) ◽  
pp. 232-237 ◽  
Author(s):  
Raffaele Di Gregorio ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Knee Joint ◽  
Cruciate Ligament ◽  
Kinematic Model ◽  
Passive Motion ◽  
Human Knee ◽  
Human Knee Joint ◽  
Spherical Surfaces ◽  
Spatial Parallel Mechanism ◽  
Anterior Cruciate ◽  
Scalar Equations

By generalizing a previous model proposed in the literature, a new spatial kinematic model of the knee joint passive motion is presented. The model is based on an equivalent spatial parallel mechanism which relies upon the assumption that fibers within the anterior cruciate ligament (ACL), the medial collateral ligament (MCL) and the posterior cruciate ligament (PCL) can be considered as isometric during the knee flexion in passive motion (virtually unloaded motion). The articular surfaces of femoral and tibial condyles are modelled as 3-D surfaces of general shapes. In particular, the paper presents the closure equations of the new mechanism both for surfaces represented by means of scalar equations that have the Cartesian coordinates of the points of the surface as variables and for surfaces represented in parametric form. An example of simulation is presented in the case both femoral condyles are modelled as ellipsoidal surfaces and tibial condyles as spherical surfaces. The results of the simulation are compared to those of the previous models and to measurements. The comparison confirms the expectation that a better approximation of the tibiofemoral condyle surfaces leads to a more accurate model of the knee passive motion.

scholarly journals Displacement Analysis of the Human Knee Joint Based on the Spatial Kinematic Model by Using Vector Method

2017 ◽  
Vol 11 (4) ◽  
pp. 322-327
Author(s):  
Marta Góra-Maniowska ◽  
Józef Knapczyk
Keyword(s):  
Knee Joint ◽  
Kinematic Model ◽  
Spatial Displacement ◽  
Vector Method ◽  
Human Knee ◽  
Planar Surfaces ◽  
Articular Surfaces ◽  
Human Knee Joint ◽  
Spatial Parallel Mechanism ◽  
Position Problem

AbstractKinematic model of the human knee joint, considered as one-degree-of-freedom spatial parallel mechanism, is used to analyse the spatial displacement of the femur with respect to the tibia. The articular surfaces of femoral and tibia condyles are modelled, based on selected references, as spherical and planar surfaces. The condyles are contacted in two points and are guided by three ligaments modelled as binary links with constant lengths. In particular, the mechanism position problem is solved by using the vector method. The obtained kinematic characteristics are adequate to the experimental results presented in the literature. Additionally, the screw displacements of relative motion in the knee joint model are determined.

scholarly journals Design and Experimental Research of Knee Joint Prosthesis Based on Gait Acquisition Technology

Biomimetics ◽  
2021 ◽  
Vol 6 (2) ◽  
pp. 28
Author(s):  
Yonghong Zhang ◽  
Erliang Wang ◽  
Miao Wang ◽  
Sizhe Liu ◽  
Wenjie Ge
Keyword(s):  
Knee Joint ◽  
Lower Limbs ◽  
Movement Trajectory ◽  
Human Knee ◽  
Motion Data ◽  
Human Knee Joint ◽  
Lower Limb Prosthesis ◽  
Knee Joint Motion ◽  
Normal Human ◽  
Instantaneous Center

Whether the lower limb prosthesis can better meet the needs of amputees, the biomimetic performance of the knee joint is particularly important. In this paper, Nokov(metric) optical 3D motion capture system was used to collect motion data of normal human lower limbs, and the motion instantaneous center of multi-gait knee joint was obtained. Taking the error of knee joint motion instantaneous center line as the objective function, a set of six-bar mechanism prosthetic knee joint was designed based on a genetic algorithm. The experimental results show that the movement trajectory of the instantaneous center of the knee joint is basically similar to that of the human knee joint, so it can help amputees complete a variety of gaits and has good biomimetic performance. Gait acquisition technology can provide important data for prosthetic designers and it will be widely used in prosthetic design and other fields.

Study Surface Roughness and Friction of Synovial Human Knee Joint with Using Mathematical Model

2018 ◽  
Vol 00 (1) ◽  
pp. 109-118
Author(s):  
Enas Y. Abdullah ◽  
◽  
Naktal Moid Edan ◽  
Athraa N. Kadhim ◽  
◽  
...  
Keyword(s):  
Mathematical Model ◽  
Surface Roughness ◽  
Knee Joint ◽  
Human Knee ◽  
Human Knee Joint

Accuracy analysis of a clinical measurement system for AP-laxity in the human knee joint

1985 ◽  
Vol 18 (7) ◽  
pp. 541
Author(s):  
Ph. Edixhoven ◽  
R. Huiskes ◽  
Th.J.G. van Rens ◽  
T.J.J.H. Slooff
Keyword(s):  
Knee Joint ◽  
Measurement System ◽  
Accuracy Analysis ◽  
Clinical Measurement ◽  
Human Knee ◽  
Human Knee Joint

scholarly journals Indian Hedgehog in Synovial Fluid Is a Novel Marker for Early Cartilage Lesions in Human Knee Joint

2014 ◽  
Vol 15 (5) ◽  
pp. 7250-7265 ◽  
Author(s):  
Congming Zhang ◽  
Xiaochun Wei ◽  
Chongwei Chen ◽  
Kun Cao ◽  
Yongping Li ◽  
...  
Keyword(s):  
Synovial Fluid ◽  
Knee Joint ◽  
Indian Hedgehog ◽  
Human Knee ◽  
Cartilage Lesions ◽  
Human Knee Joint
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