This paper presents a fully passive exoskeleton knee that resists knee buckling during the stance phase, encourages knee flexion to assist in toe clearance during the swing flexion phase, and allows free swing extension. This knee device utilizes a spring to store and release energy in different phases. It realizes a complex implementation with a simple architecture by using a four-bar linkage mechanism with the knowledge of the mechanism with variable topologies (MVTs). In this article, a fully passive knee prototype was designed, optimized, and built. The knee device is hypothesized to enable walking and assist toe clearance in exoskeleton walking. This article opens a paradigm of the passive knee devices that tackles the problem of low toe clearance, not only for implementation of the exoskeletons but also for orthoses and prostheses.
- Dynamic Systems and Control Division
Design of a Passive Exoskeleton Knee to Assist Toe Clearance
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Wu, S, & Kazerooni, H. "Design of a Passive Exoskeleton Knee to Assist Toe Clearance." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T38A003. ASME. https://doi.org/10.1115/DSCC2017-5263
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