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Article

Development of a Single Leg Knee Exoskeleton and Sensing Knee Center of Rotation Change for Intention Detection

1
Department of Electrical and Computer Engineering, Ajou University, Suwon 16499, Korea
2
Department of Electrical Engineering, Kyung Hee University, Yongin 17104, Korea
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(18), 3960; https://doi.org/10.3390/s19183960
Received: 12 July 2019 / Revised: 11 September 2019 / Accepted: 11 September 2019 / Published: 13 September 2019
In this study, we developed a single leg knee joint assistance robot. Commonly used exoskeletons have a left-right pair, but when only one leg of the wearer is uncomfortable, it is effective to wear the exoskeleton on only the uncomfortable leg. The designed exoskeleton uses a lightweight material and uses a wire-driven actuator, which reduces the weight of the driving section that is attached on the knee directly. Therefore, proposed exoskeleton reduces the force of inertia that the wearer experiences. In addition, the lower frame length of the exoskeleton can be changed to align with the complex movement of the knee. Furthermore, the length between the knee center of rotation and the ankle (LBKA) is measured by using this structure, and the LBKA values are used as the data for intention detection. These value helps to detect the intention because it changes faster than a motor encoder value. A neural network was trained using the motor encoder values, and LBKA values. Neural network detects the intention of three motions (stair ascending, stair descending, and walking), Training results showed that intention detection was good in various environments. View Full-Text
Keywords: modular exoskeleton; knee exoskeleton; back-drivability; wire-driven actuator system; compliant design; neural network; pattern recognition; intention detection modular exoskeleton; knee exoskeleton; back-drivability; wire-driven actuator system; compliant design; neural network; pattern recognition; intention detection
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MDPI and ACS Style

Moon, D.-H.; Kim, D.; Hong, Y.-D. Development of a Single Leg Knee Exoskeleton and Sensing Knee Center of Rotation Change for Intention Detection. Sensors 2019, 19, 3960. https://doi.org/10.3390/s19183960

AMA Style

Moon D-H, Kim D, Hong Y-D. Development of a Single Leg Knee Exoskeleton and Sensing Knee Center of Rotation Change for Intention Detection. Sensors. 2019; 19(18):3960. https://doi.org/10.3390/s19183960

Chicago/Turabian Style

Moon, Dae-Hoon, Donghan Kim, and Young-Dae Hong. 2019. "Development of a Single Leg Knee Exoskeleton and Sensing Knee Center of Rotation Change for Intention Detection" Sensors 19, no. 18: 3960. https://doi.org/10.3390/s19183960

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