Improvement of knee flexion and extension simulation accuracy in KneeRobo

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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルInternational Conference on Control, Automation and Systems
出版社IEEE Computer Society
ページ603-606
ページ数4
ISBN(電子版)9788993215069
DOI
出版ステータスPublished - 16-12-2014
外部発表はい
イベント2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
継続期間: 22-10-201425-10-2014

出版物シリーズ

名前International Conference on Control, Automation and Systems
ISSN(印刷版)1598-7833

Other

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

All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ サイエンスの応用
  • 制御およびシステム工学
  • 電子工学および電気工学

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