Shintaro Kasai1, Pancho Dachkinov1, Kohei Tanaka1, Hiroaki Wagatsuma1,2
1Kyushu Institute of Technology, 4 Hibikino, Wakamatsu-ku, Kitakyushu, 808-0196,
Japan
2RIKEN CBS, Japan
pp. 128–135
ABSTRACT
Assistive devices have been studied in the senses of the universal design
and a possible simplification for mass production, and such a concept can
be extended to the personalization by using advanced 3D printing technologies,
which allows to provide suitable exoskeleton-type devices to fit for the
subject’s body to achieve symptom relief. A systematic analytical mechanics
is highly important for the investigation of proposed integrative systems
and multibody dynamics and its computer simulation enhance the capability
to find potential problems in design, for example risky postures for the
subject. We introduced multibody dynamics to analyze a knee support exoskeleton
by using a linkage system newly designed as a simplification of the device.
In the computer experiment, a singular posture was successfully found as
the limitation of the device to move safely for subjects having joint dysfunctions
Keywords: Knee support, Exoskeleton-type assistive device, Multibody dynamics
(MBD), Joint dysfunction
© 2022 The Author. Published by Sugisaka Masanori at ALife Robotics Corporation Ltd This is an open access article distributed
under the CC BY-NC 4.0 license ( h ttp://creativecommons.org/licenses/by-nc/4.0/).
ARTICLE INFO
Article History
Received 25 November 2021
Accepted 24 March 2022
J-STAGE9205
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