Improvement of flexion/extension angle range of KneeRobo to replicate involuntary movements

N. Sato, Qichang Qi, Y. Maeda, Y. Morita, H. Ukai, K. Sanaka
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Abstract

We developed KneeRobo, which replicates knee joint disorders experienced by patients, to enable students studying to become physical or occupational therapists to gain practical training/testing experience virtually. We also developed a control algorithm that enables KneeRobo to realize involuntary internal/external rotation and abduction/adduction during knee flexion and extension. However, in the previous study, involuntary movements were replicated only in the flexion/extension angle range of 0°-40°. In this paper, we propose a new mechanism to replicate the involuntary movements in the flexion/extension angle range of 0°-90°. Moreover, we propose a new method to calculate winding lengths of the wires connected to the motors in KneeRobo. Then, according to the new calculation method, the target winding lengths are obtained. In the experiment, we use these target winding lengths and we find that by using the proposed method, KneeRobo can replicate the involuntary movements more accurately than previous method.
改善KneeRobo的屈伸角度范围,以复制不自主运动
我们开发了KneeRobo,它可以复制患者经历的膝关节疾病,使学习成为物理或职业治疗师的学生能够获得虚拟的实践培训/测试经验。我们还开发了一种控制算法,使KneeRobo能够在膝关节屈伸时实现不自主的内/外旋转和外展/内收。然而,在之前的研究中,仅在0°-40°的屈伸角度范围内重复了不自主运动。在本文中,我们提出了一种新的机制来复制0°-90°屈伸角范围内的不自主运动。此外,我们提出了一种新的方法来计算连接在KneeRobo电机上的导线的绕组长度。然后,根据新的计算方法,得到了目标绕组长度。在实验中,我们使用这些目标缠绕长度,我们发现通过使用所提出的方法,KneeRobo可以比以前的方法更准确地复制非自愿运动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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