ArticleBiomimetics (Basel, Switzerland)2023
Design and Optimization of Lower Limb Rehabilitation Exoskeleton with a Multiaxial Knee Joint.
Article in Biomimetics (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed, 28 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
- Research Status and Development Trend of Lower-Limb Squat-Assistant Wearable Devices.Biomimetics (Basel, Switzerland) · 2025Review
- Development of an Ankle Exoskeleton: Design, Modeling, and Testing.Sensors (Basel, Switzerland) · 2025Article
- Design, Simulation and Functional Testing of a Novel Ankle Exoskeleton with 3DOFs.Sensors (Basel, Switzerland) · 2024Article
- Design and Optimization of an Adaptive Knee Joint Orthosis for Biomimetic Motion Rehabilitation Assistance.Biomimetics (Basel, Switzerland) · 2024Article
- Article
Corrections and comments
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Authors and funding
6 authors at 1 institution in 1 country.
Funding
Abstract
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 of the human knee joint, and leverages a double-degrees-of-freedom (2DOF) five-bar mechanism to adapt to these differences. The walking gait of the human lower limb and the corresponding knee ICR were measured and calculated using an optical 3D motion capture system. The optimal dimension parameters of the five-bar mechanism were then obtained through the optimization of human movement position inputs and rod length constraints to minimize the error in knee ICR, gait angle, and ankle trajectory between the human and the exoskeleton. Finally, we established an exoskeleton prototype to conduct relevant experimental tests. The experiment results showed that the average errors of knee ICR trajectory, hip angle, knee angle, and ankle trajectory were 5.52 × 10
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.