@article{ref1,
title="A self-aligning knee joint for walking assistance devices",
journal="Conference proceedings - IEEE engineering in medicine and biology society",
year="2016",
author="Byungjune Choi,  and Younbaek Lee,  and Jeonghun Kim,  and Minhyung Lee,  and Jongwon Lee,  and Se-Gon Roh,  and Hyundo Choi,  and Yong-Jae Kim,  and Jung-Yun Choi, ",
volume="2016",
number="",
pages="2222-2227",
abstract="This paper presents a novel self-aligning knee mechanism for walking assistance devices for the elderly to provide physical gait assistance. Self-aligning knee joints can assist in flexion/extension motions of the knee joint and compensate the knee's transitional movements in the sagittal plane. In order to compensate the center of rotation, which moves with the flexion/extension motion of the human knee joint, a self-aligning knee joint is proposed that adds redundant degrees of freedom (i.e., 2-DoF) to the 1-DoF revolute joint. The key idea of the proposed mechanism is to decouple joint rotations and translations for use in lower-extremity wearable devices. This paper describes the mechanical design of this self-aligning knee mechanism and its implementation on a wearable robot and in preliminary experiments. The performance of the proposed mechanism is verified by simulations and experiments.<p /> <p>Language: en</p>",
language="en",
issn="1557-170X",
doi="10.1109/EMBC.2016.7591171",
url="http://dx.doi.org/10.1109/EMBC.2016.7591171"
}