Stand–sit–stand (STS) motions are the most frequently performed activities of everyday life and require extensive movement of knee joint. People suffering from knee joint disorders face difficulties in performing this motion. The compact knee exoskeleton (KE) has proven to be a viable, less complex, and cheaper alternative to the available entire lower-, upper-, and full-body exoskeletons. With growing number of technical glitches and finite battery life problems, there exist risks of sudden failure of the actuator of KE that could be detrimental for the vulnerable users. To overcome this problem, there is a need to accommodate a backup actuator in KE which can continue providing assistance during movement if the primary actuator ceases to function. This article provides a performance comparison of a four-bar mechanism-driven KE that can accommodate both the linear and the rotary actuators. The modelling and simulation of the system are performed using the bond graph (BG) technique. The results successfully showed that both actuators offered desired ranges of motions needed for STS motion. Furthermore, the knee joint torques developed by the linear and rotary actuators were found to be 40 Nm and 57 Nm, respectively, which corresponds to 60% and 85% of the total torque required by the knee joint to perform STS motions, thereby reducing the user effort to 40% and 15%, respectively. Thus, both actuators are self-capable to provide necessary assistance at the knee joint even if the primary actuator ceases to work due to a sudden fault, the secondary actuator will provide the required rotation of the thigh link and will continue to deliver the assistive torque. The article also effectively shows the application of BG approach to model the multidisciplinary systems like KE as it conveniently models the system containing various elements in different energy domains.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions


    Beteiligte:
    Jain, Prakhar (Autor:in) / Bera, Tarun Kumar (Autor:in) / Rafique, Sajid (Autor:in) / Singla, Ashish (Autor:in) / Isaksson, Magnus (Autor:in)

    Erscheinungsdatum :

    2020-01-01


    Anmerkungen:

    Scopus 2-s2.0-85092616319



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Rotary vehicle stand

    XIAO QIANG | Europäisches Patentamt | 2020

    Freier Zugriff

    Torque-reaction test stand

    Kleinsorge, W. | Engineering Index Backfile | 1938


    Torque-reaction test stand

    Kleinsorge, W. | Engineering Index Backfile | 1938


    Arcuate torque wrench stand

    ROBINSON GREGORY N / MCKNIGHT TIMOTHY R | Europäisches Patentamt | 2016

    Freier Zugriff

    Multifunctional rotary cup stand

    LIU QIANG / GONG WENPING / WEN HU et al. | Europäisches Patentamt | 2023

    Freier Zugriff