Improvement of knee flexion and extension simulation accuracy in KneeRobo

Qichang Qi, Yoshie Maeda, Kazunori Yamazaki, Noritaka Sato, Yoshifumi Morita, Hiroyuki Ukai, Kouji Sanaka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In a previous paper, we reported on the initial development of KneeRobo, which replicates knee joint troubles experienced by patients in order to enable students studying to become physical or occupational therapists to gain practical training/testing virtually. We also developed a control algorithm that enabled KneeRobo to realize involuntary internal/external rotation during knee flexion and extension. However, it is well known that in addition to internal/external rotation, abduction/adduction also occurs involuntarily during knee flexion and extension. Consequently, this paper proposes a new control method that improves the simulation accuracy of KneeRobo's knee joint movements. This is accomplished by developing a control algorithm and designing a pulley arrangement that facilitates realization of involuntary movements such as internal/external rotation and abduction/adduction during knee flexion and extension by KneeRobo. The results of experimental comparison with the actual knee joint movements of a healthy person confirm that the knee joint movements simulated by the improved KneeRobo are accurate.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages603-606
Number of pages4
ISBN (Electronic)9788993215069
DOIs
Publication statusPublished - 16-12-2014
Externally publishedYes
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: 22-10-201425-10-2014

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CountryKorea, Republic of
CityGyeonggi-do
Period22-10-1425-10-14

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Qi, Q., Maeda, Y., Yamazaki, K., Sato, N., Morita, Y., Ukai, H., & Sanaka, K. (2014). Improvement of knee flexion and extension simulation accuracy in KneeRobo. In International Conference on Control, Automation and Systems (pp. 603-606). [6987851] (International Conference on Control, Automation and Systems). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987851