1 Wrocław University of Science and Technology, Faculty of Mechanical Engineering, Department of Biomedical Engineering, Mechatronics and Theory of Mechanisms, Łukasiewicza St. 7/9, 50-371 Wrocław. Poland
2 University of Cassino and South Latium, Department of Civil Engineering and Mechanics, LARM: Laboratory of Robotics and Mechatronics, Via G Di Biasio 43, Cassino (FR). Italy
The paper is focused on designing a novel controllable and adjustable mechanism for reproducing human knee joint’s complex motion by taking into account the flexion/extension movement in the sagittal plane, in combination with roll and slide. Main requirements for a knee rehabilitation supporting device are specified by researching the knee’s anatomy and already existing mechanisms. A three degree of freedom (3 DOF) system (four-bar like linkage with controlled variable lengths of rockers) is synthesised to perform the reference path of instantaneous centre of rotation (ICR). Finally, a preliminary design of the adaptive mechanism is elaborated and a numerical model is built in Adams. Numerical results are derived from simulations that are presented to evaluate the accuracy of the reproduced movement and the mechanism’s capabilities.
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