Kinematic design of an anatomically-accurate exoskeleton knee joint
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Abstract
A powered exoskeleton is a literal union of man and machine, combining the brute force and endurance of a machine with the dexterity, intellect, and versatility of its human operator to perform tasks not possible by either acting alone. They have potential for use in rescue operations, on the battlefield, and are becoming an increasingly important part of rehabilitation therapy. However, most of these applications are yet to be fully realized, and for the user to view the machine as an extension of himself, the machine must present as little interference as possible. Current designs fall far short of this ideal due in part to the oversimplification of mechanical joint structures. This study attempts to synthesize a two-dimensional artificial knee joint that accurately mimics the motion of its biological counterpart. Kinematic analysis and optimization have been carried out to virtually test the performance of the new design.