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首页> 外文期刊>Mathematical Problems in Engineering >Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications
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Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

机译：基于几何和视觉系统的外骨骼应用人膝关节逆建模

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摘要

Current trends in Robotics aim to close the gap that separates technology and humans, bringing novel robotic devices in order to improve human performance. Although robotic exoskeletons represent a breakthrough in mobility enhancement, there are design challenges related to the forces exerted to the users' joints that result in severe injuries. This occurs due to the fact that most of the current developments consider the joints as noninvariant rotational axes. This paper proposes the use of commercial vision systems in order to perform biomimetic joint design for robotic exoskeletons. This work proposes a kinematic model based on irregular shaped cams as the joint mechanism that emulates the bone-to-bone joints in the human body. The paper follows a geometric approach for determining the location of the instantaneous center of rotation in order to design the cam contours. Furthermore, the use of a commercial vision system is proposed as the main measurement tool due to its noninvasive feature and for allowing subjects undermeasurement tomove freely. The application of this method resulted in relevant information about the displacements of the instantaneous center of rotation at the human knee joint.
机译：机器人技术的当前趋势旨在弥合分隔技术与人类的鸿沟，带来新颖的机器人设备以提高人类性能。尽管机器人的外骨骼代表了移动性增强方面的突破，但是在设计上存在一些挑战，这些挑战涉及施加到使用者关节上的力，这些力会导致严重伤害。发生这种情况的原因是，当前大多数开发都将关节视为不变的旋转轴。本文提出使用商业视觉系统来执行机器人骨骼的仿生关节设计。这项工作提出了一种基于不规则形状的凸轮的运动模型，作为模仿人体骨骼到骨骼关节的关节机制。本文采用几何方法确定瞬时旋转中心的位置，以设计凸轮轮廓。此外，由于其无创性并且允许被测对象自由移动，建议将商业视觉系统的使用作为主要测量工具。该方法的应用产生了有关人类膝关节瞬时旋转中心位移的相关信息。

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