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CLC number: TP242.6

On-line Access: 2016-08-05

Received: 2015-09-04

Revision Accepted: 2016-01-13

Crosschecked: 2016-07-11

Cited: 0

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Citations:  Bibtex RefMan EndNote GB/T7714


Can-jun Yang


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Frontiers of Information Technology & Electronic Engineering  2016 Vol.17 No.8 P.792-802


Human hip joint center analysis for biomechanical design of a hip joint exoskeleton

Author(s):  Wei Yang, Can-jun Yang, Ting Xu

Affiliation(s):  State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   ycj@zju.edu.cn

Key Words:  Hip joint exoskeleton, Hip joint center, Compatible joint, Human-machine interaction force

Wei Yang, Can-jun Yang, Ting Xu. Human hip joint center analysis for biomechanical design of a hip joint exoskeleton[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(8): 792-802.

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We propose a new method for the customized design of hip exoskeletons based on the optimization of the human-machine physical interface to improve user comfort. The approach is based on mechanisms designed to follow the natural trajectories of the human hip as the flexion angle varies during motion. The motions of the hip joint center with variation of the flexion angle were measured and the resulting trajectory was modeled. An exoskeleton mechanism capable to follow the hip center’s movement was designed to cover the full motion ranges of flexion and abduction angles, and was adopted in a lower extremity assistive exoskeleton. The resulting design can reduce human-machine interaction forces by 24.1% and 76.0% during hip flexion and abduction, respectively, leading to a more ergonomic and comfortable-to-wear exoskeleton system. The human-exoskeleton model was analyzed to further validate the decrease of the hip joint internal force during hip joint flexion or abduction by applying the resulting design.

The paper introduces a very nice idea, trying to match a mechanical arrangement to real data about anatomic hip joint center positions during walking. Data are collected correctly and explained thoroughly, together with the methodology.



Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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