Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes
This paper focuses on the experimental testing and characterisation of two designed and constructed prototypes of a human knee joint mechanism. The aim of the mechanical systems, presented as kinematic diagrams and 3D CAD drawings, is to reproduce the knee joint’s complex movement, in particular the...
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MDPI AG
2025-01-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/1/70 |
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| author | Michał Olinski |
| author_facet | Michał Olinski |
| author_sort | Michał Olinski |
| collection | DOAJ |
| description | This paper focuses on the experimental testing and characterisation of two designed and constructed prototypes of a human knee joint mechanism. The aim of the mechanical systems, presented as kinematic diagrams and 3D CAD drawings, is to reproduce the knee joint’s complex movement, in particular the flexion/extension in the sagittal plane, within a given range and constraints, while taking into account the trajectory of the joint’s instantaneous centre of rotation. The first prototype can simulate different movements by modifying its dimensions in real time using a linearly adjustable crossed four-bar mechanism. The second prototype has interchangeable cooperating components, with cam profiles that can be adapted to specific requirements. Both devices are built from 3D-printed parts and their characteristics are determined experimentally. Although many types of tests have been carried out, this research mainly aims to conduct experiments with volunteers. To this end, the IMU sensors measure the mechanisms’ movements, but the main source of the data is video analysis of the colour markers. For the purposes of postprocessing, the results in the form of numerical values and figures were computed by Matlab 2019b. To illustrate the prototypes’ capabilities, the results are shown as motion trajectories of selected tibia/femur points and the calculated knee joint’s flexion/extension angle. |
| format | Article |
| id | doaj-art-6df2f9034c9e4c87ae4ae63ae2732732 |
| institution | Kabale University |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-6df2f9034c9e4c87ae4ae63ae27327322025-01-24T13:39:21ZengMDPI AGMachines2075-17022025-01-011317010.3390/machines13010070Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton PrototypesMichał Olinski0Department of Fundamentals of Machine Design and Mechatronic Systems K61W10D07, Wrocław University of Science and Technology, Łukasiewicza St. 7/9, 50-371 Wroclaw, PolandThis paper focuses on the experimental testing and characterisation of two designed and constructed prototypes of a human knee joint mechanism. The aim of the mechanical systems, presented as kinematic diagrams and 3D CAD drawings, is to reproduce the knee joint’s complex movement, in particular the flexion/extension in the sagittal plane, within a given range and constraints, while taking into account the trajectory of the joint’s instantaneous centre of rotation. The first prototype can simulate different movements by modifying its dimensions in real time using a linearly adjustable crossed four-bar mechanism. The second prototype has interchangeable cooperating components, with cam profiles that can be adapted to specific requirements. Both devices are built from 3D-printed parts and their characteristics are determined experimentally. Although many types of tests have been carried out, this research mainly aims to conduct experiments with volunteers. To this end, the IMU sensors measure the mechanisms’ movements, but the main source of the data is video analysis of the colour markers. For the purposes of postprocessing, the results in the form of numerical values and figures were computed by Matlab 2019b. To illustrate the prototypes’ capabilities, the results are shown as motion trajectories of selected tibia/femur points and the calculated knee joint’s flexion/extension angle.https://www.mdpi.com/2075-1702/13/1/70biomechanicsexperimental mechanicsrehabilitationvideo analysiscentroidprosthesis |
| spellingShingle | Michał Olinski Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes Machines biomechanics experimental mechanics rehabilitation video analysis centroid prosthesis |
| title | Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes |
| title_full | Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes |
| title_fullStr | Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes |
| title_full_unstemmed | Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes |
| title_short | Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes |
| title_sort | design and experimental characterization of developed human knee joint exoskeleton prototypes |
| topic | biomechanics experimental mechanics rehabilitation video analysis centroid prosthesis |
| url | https://www.mdpi.com/2075-1702/13/1/70 |
| work_keys_str_mv | AT michałolinski designandexperimentalcharacterizationofdevelopedhumankneejointexoskeletonprototypes |