A Novel Design Method for the Knee Joint of the Exoskeleton Based On the Modular Wearable Sensor

IF 0.8 4区医学 Q4 ENGINEERING, BIOMEDICAL Journal of Medical Devices-Transactions of the Asme Pub Date : 2023-10-07 DOI:10.1115/1.4063672

Jian Cao, Chang Wang, Jianhua Zhang, Kexiang Li, Jianjun Zhang

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Abstract

Abstract This paper innovatively proposes an artificial knee joint customization design scheme based on modular wearable sensors. It aims to solve the compatibility and security problem of wearable devices for different individual knee joints. The method consists of two main parts: measurement and customization. A wearable sensor with three joints is proposed and analyzed. The sensor can measure the kinematic characteristics of human knee joints to obtain the customized design parameters of artificial joints. Designed a bionic four-link knee joint, and the parameters of the connecting rod were optimized by a genetic algorithm based on the measured data. In particular, the measuring device and knee joint are designed in a modular way, and they can be used on the same platform. The modular design method can be used to customize joints for different individuals, which simplifies the difficulty of customization and effectively reduces the cost. After the modular knee joint's optimized design, this paper mainly conducted a number of comparative tests. The comparative test results of three joints show that the dynamic tracking accuracy of customized joints is 54.9% higher than that of ordinary joints and 70.5% higher than that of hinge joints. The results show that personalized customization for individuals can improve human-machine coupling performance.

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基于模块化可穿戴传感器的外骨骼膝关节设计新方法

创新性地提出了一种基于模块化可穿戴传感器的人工膝关节定制设计方案。旨在解决不同个体膝关节可穿戴设备的兼容性和安全性问题。该方法包括两个主要部分:测量和定制。提出并分析了一种具有三关节的可穿戴传感器。该传感器可以测量人体膝关节的运动特性，从而获得定制的人工关节设计参数。设计了仿生四连杆膝关节，并基于实测数据采用遗传算法对连杆参数进行了优化。其中，测量装置和膝关节采用模块化设计，可在同一平台上使用。采用模块化设计方法可针对不同个体定制关节，简化了定制难度，有效降低了成本。在模块化膝关节优化设计后，本文主要进行了多项对比试验。三种关节的对比试验结果表明，定制关节的动态跟踪精度比普通关节高54.9%，比铰链关节高70.5%。结果表明，针对个体的个性化定制可以提高人机耦合性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Medical Devices-Transactions of the Asme ENGINEERING, BIOMEDICAL-

CiteScore

1.80

自引率

11.10%

发文量

审稿时长

6-12 weeks

期刊介绍： The Journal of Medical Devices presents papers on medical devices that improve diagnostic, interventional and therapeutic treatments focusing on applied research and the development of new medical devices or instrumentation. It provides special coverage of novel devices that allow new surgical strategies, new methods of drug delivery, or possible reductions in the complexity, cost, or adverse results of health care. The Design Innovation category features papers focusing on novel devices, including papers with limited clinical or engineering results. The Medical Device News section provides coverage of advances, trends, and events.