Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2503.11474 |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866909537550729216 |
|---|---|
| author | Zhang, Yifang Ajoudani, Arash Tsagarakis, Nikos G |
| author_facet | Zhang, Yifang Ajoudani, Arash Tsagarakis, Nikos G |
| contents | In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exoskeleton structures or soft-tendon driven approaches, the proposed device leverages a new semi-rigid principle that explores the benefits of both rigid and soft systems. The use of a novel semi-rigid chain mechanism around the knee joint eliminates the presence of misalignment between the device and the knee joint center of rotation, while at the same time, it forms a well-defined route for the tendon. This results in more deterministic load compensation functionality compared to the fully soft systems. The proposed device can provide up to 38Nm assistive torque to the knee joint. In the experiment section, the device was successfully validated through a series of experiments demonstrating the capacity of the device to provide the target assistive functionality in the knee joint. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_11474 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Exo-muscle: A semi-rigid assistive device for the knee Zhang, Yifang Ajoudani, Arash Tsagarakis, Nikos G Robotics In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exoskeleton structures or soft-tendon driven approaches, the proposed device leverages a new semi-rigid principle that explores the benefits of both rigid and soft systems. The use of a novel semi-rigid chain mechanism around the knee joint eliminates the presence of misalignment between the device and the knee joint center of rotation, while at the same time, it forms a well-defined route for the tendon. This results in more deterministic load compensation functionality compared to the fully soft systems. The proposed device can provide up to 38Nm assistive torque to the knee joint. In the experiment section, the device was successfully validated through a series of experiments demonstrating the capacity of the device to provide the target assistive functionality in the knee joint. |
| title | Exo-muscle: A semi-rigid assistive device for the knee |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.11474 |