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Modeling of the Human Lower-Limb Motion, Design and Control of Knee Joint Orthosis

Victor Musalimov(1), Yury Monahov(2), Mart Tamre(3), Alina Sivitski(4), Gennady Aryassov(5), Dmitri Rõbak(6), Igor Penkov(7*)

(1) Department of Mechatronics, National Research University of Information Technology, Mechanics and Optics, Russian Federation
(2) Department of Mechatronics, National Research University of Information Technology, Mechanics and Optics, Russian Federation
(3) School of Engineering, Tallinn University of Technology, Estonia
(4) School of Engineering, Tallinn University of Technology, Estonia
(5) School of Engineering, Tallinn University of Technology, Estonia
(6) School of Engineering, Tallinn University of Technology, Estonia
(7) School of Engineering, Tallinn University of Technology, Estonia
(*) Corresponding author


DOI: https://doi.org/10.15866/iremos.v10i5.11853

Abstract


In this paper, the kinematics of a knee joint is considered. A new type of motion components using rotating and sliding links is proposed. On the basis of the given analysis, a simulating model is created and analysis of human lower-limb motion is performed. Simulation results were compared to the real motion measurement and gave a good correlation. The model of an active orthosis is discussed and orthosis controlling system is considered.
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Keywords


Kinematics; Knee Joint; Simulation; Orthoses

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References


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