ArticleFrontiers in bioengineering and biotechnology2021
Hip-Knee Coupling Exoskeleton With Offset Theory for Walking Assistance.
Article in Frontiers in bioengineering and biotechnology, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed, 4 citations in OpenAlex.
- Mechatronic Design and Development of a Lower-Limb Exoskeleton System Based on Knee Joint Biomechanical Principles Using Electro-Pneumatic Actuation with an Embedded EMG Controller for Experimental Validation in Elderly Gait Rehabilitation Support.Bioengineering (Basel, Switzerland) · 2026Article
- Cooperativity Model for Improving the Walking-Assistance Efficiency of the Exoskeleton.Micromachines · 2022Article
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Authors and funding
3 authors at 1 institution in 1 country.
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Abstract
To alleviate the influence of aging on the elderly, a hip-knee coupling exoskeleton with offset theory is designed in this article to improve people's athletic ability. With the novel design, the unique application strategy of the offset principle for hip and knee joints is developed, and a hip-knee coupling mechanism is proposed to solve the discrete power assistance problem for the knee joint. To acquire the success of the design, the mathematical model of the coupling mechanism is established to optimize the load environment of the exoskeleton system, and furthermore, an algorithm adapted to human movement is proposed to determine the monotonicity of the cam profiles. For the selection of the elastic parameters in the coupling mechanism, the sensitivity condition is proposed, and the human-machine interaction model of the KESM is further established. A man-machine coupling model was used to verify the scientificity of the exoskeleton design, and the comparison between the joint powers with or without exoskeleton indicated that the exoskeleton theoretically saved at least 20% of the human body's energy.
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