Design and Development of Knee Manipulator to Identify Intent and to Analyse Knee Joint Torque

摘要

The work achieves the objective of design and development of a knee manipulator by employing rotary actuators. The development has led to increased range of motion, high torque, and compact size to small weight ratio of the device. A finite state-machine design was implemented for the control of knee manipulator trajectories. A torque sensor was employed to identify the results of interactive forces produced during human limb and manipulator's interactions. The conjoined pHRI detects wearer's intent to promote knee rehabilitation among SCI patients. The angular motion vs. joint torque curve represents wearer's regained muscular strength during the course of rehabilitation.