A biomimicking design for mechanical knee joints

Bioinspiration & Biomimetics
Felix RussellPeter Ellison

Abstract

In this paper we present a new bioinspired bicondylar knee joint that requires a smaller actuator size when compared to a constant moment arm joint. Unlike existing prosthetic joints, the proposed mechanism replicates the elastic, rolling and sliding elements of the human knee. As a result, the moment arm that the actuators can impart on the joint changes as function of the angle, producing the equivalent of a variable transmission. By employing a similar moment arm-angle profile as the human knee the peak actuator force for stair ascent can be reduced by 12% compared to a constant moment arm joint addressing critical impediments in weight and power for robotics limbs. Additionally, the knee employs mechanical 'ligaments' containing stretch sensors to replicate the neurosensory and compliant elements of the joint. We demonstrate experimentally how the ligament stretch can be used to estimate joint angle, therefore overcoming the difficulty of sensing position in a bicondylar joint.

References

Jan 1, 1975·Clinical Orthopaedics and Related Research·F G GirgisA Monajem
Jan 1, 1973·Journal of Biomechanics·G L Smidt
Aug 1, 1995·Archives of Physical Medicine and Rehabilitation·A W KimT S Buchanan
Sep 1, 1996·Journal of Biomechanics·P de Leva
Oct 6, 1998·The Journal of Bone and Joint Surgery. American Volume·T Hogervorst, R A Brand
Oct 1, 1995·Clinical Biomechanics·R S JonesR S Paterson
Jul 20, 2002·Gait & Posture·Patrick A CostiganUrs P Wyss
Mar 30, 2004·Journal of Biomechanics·Janet L KrevolinJohn C Pearce
Sep 16, 2009·Orthopedics·Steven B CohenFreddie H Fu
Oct 24, 2009·Biomedical Engineering Online·Shinsuke YoshiokaSenshi Fukashiro
Feb 25, 2010·IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control·Andreas NoethNava Setter
Jul 5, 2011·European Journal of Clinical Microbiology & Infectious Diseases : Official Publication of the European Society of Clinical Microbiology·A A Shemesh, P Yagupsky
Jan 10, 2013·Journal of Rehabilitation Research and Development·Erik J WolfJeffrey M Gambel
Feb 5, 2013·Gait & Posture·Erik J WolfJeffrey M Gambel
Mar 26, 2013·Annals of Biomedical Engineering·Samuel R HamnerKrista M Donaldson
Jan 6, 2015·Journal of Neuroengineering and Rehabilitation·Michael R TuckerRoger Gassert
Aug 23, 2016·Bioinspiration & Biomimetics·Diego TorricelliJose L Pons
Jan 24, 2017·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·H F MaqboolA A Dehghani-Sanij
Aug 18, 2017·IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·Felix RussellRavi Vaidyanathan

❮ Previous
Next ❯

Citations

Mar 3, 2021·Bioinspiration & Biomimetics·Aliona Sanz-IdirinPedro José Arrazola

❮ Previous
Next ❯

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.

Related Papers

IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Felix RussellRavi Vaidyanathan
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Koh InoueShinichi Tachiwana
Casopís lékar̆ů c̆eských
A Podskubka
© 2022 Meta ULC. All rights reserved