TY  - JOUR
PY  - 2016//
TI  - A self-aligning knee joint for walking assistance devices
JO  - Conference proceedings - IEEE engineering in medicine and biology society
A1  - Byungjune Choi, 
A1  - Younbaek Lee, 
A1  - Jeonghun Kim, 
A1  - Minhyung Lee, 
A1  - Jongwon Lee, 
A1  - Se-Gon Roh, 
A1  - Hyundo Choi, 
A1  - Yong-Jae Kim, 
A1  - Jung-Yun Choi, 
SP  - 2222
EP  - 2227
VL  - 2016
IS  - 
N2  - 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>
LA  - en
SN  - 1557-170X
UR  - http://dx.doi.org/10.1109/EMBC.2016.7591171
ID  - ref1
ER  -