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Design and Evaluation of a Quasi-Passive Knee Exoskeleton for Investigation of Motor Adaptation in Lower Extremity Joints
2014
IEEE Transactions on Biomedical Engineering
In this study, we describe the mechanical design and control scheme of a quasi-passive knee exoskeleton intended to investigate the biomechanical behavior of the knee joint during interaction with externally applied impedances. As the human knee behaves much like a linear spring during the stance phase of normal walking gait, the exoskeleton implements a spring across the knee in the weight acceptance (WA) phase of the gait while allowing free motion throughout the rest of the gait cycle,
doi:10.1109/tbme.2014.2307698
pmid:24845291
fatcat:fqg4jmfmzfbhxpaa4gtuhzv2s4