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A biomimicking design for mechanical knee joints
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Vaidyanathan Bioinsp Biomim 13 1-13 2018.pdf | Published version | 2.08 MB | Adobe PDF | View/Open |
Title: | A biomimicking design for mechanical knee joints |
Authors: | Russell, F Zhu, Y Hey, W Vaidyanathan, R Ellison, P |
Item Type: | Journal Article |
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. |
Issue Date: | 1-Sep-2018 |
Date of Acceptance: | 16-Jul-2018 |
URI: | http://hdl.handle.net/10044/1/62796 |
DOI: | https://dx.doi.org/10.1088/1748-3190/aad39d |
ISSN: | 1748-3182 |
Publisher: | IOP Publishing |
Journal / Book Title: | Bioinspiration and Biomimetics |
Volume: | 13 |
Copyright Statement: | © 2018 IOP Publishing Ltd. Original content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence (https://creativecommons.org/licenses/by/3.0/). Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI. |
Sponsor/Funder: | Engineering & Physical Science Research Council (EPSRC) Engineering & Physical Science Research Council (E |
Funder's Grant Number: | EP/K503381/1 EP/R511547/1 |
Keywords: | Science & Technology Technology Engineering, Multidisciplinary Materials Science, Biomaterials Robotics Engineering Materials Science biomimetics biomechanics robotics ligaments above knee prostheses condylar knee lower limb CRUCIATE LIGAMENTS POWER KNEE C-LEG EXTENSION FLEXION 02 Physical Sciences 06 Biological Sciences 09 Engineering Physiology |
Publication Status: | Published |
Open Access location: | http://iopscience.iop.org/article/10.1088/1748-3190/aad39d/meta |
Article Number: | ARTN 056012 |
Online Publication Date: | 2018-07-16 |
Appears in Collections: | Mechanical Engineering Faculty of Engineering |