TY - CHAP
T1 - Synthesis and optimization considerations for a knee orthosis based on a Watt’s six-bar linkage
AU - Xydas, Evagoras
AU - Abdikadirova, Banu
AU - Konstantinos, Kostas
PY - 2019
Y1 - 2019
N2 - Employing six-bar linkages for knee orthoses is an advantageous choice in many ways. In relation to four-bar linkages the six-bar linkage tracks more accurately the natural ankle trajectory and provides more flexibility in the design for stability. Additionally, the 1-DOF mobility of linkages alongside the available moment leverage offers advantages in cost-effectiveness over open-kinematic-chain designs. This work presents the analysis as well as the design and optimization considerations of a knee orthosis that is based on a Watt’s six-bar linkage. The main aim is to lay the foundations for analytical design and development of a knee orthosis that is cost-effective, self-cancelling and optimized for passive-active energy exchange as well as energy harvesting and return.
AB - Employing six-bar linkages for knee orthoses is an advantageous choice in many ways. In relation to four-bar linkages the six-bar linkage tracks more accurately the natural ankle trajectory and provides more flexibility in the design for stability. Additionally, the 1-DOF mobility of linkages alongside the available moment leverage offers advantages in cost-effectiveness over open-kinematic-chain designs. This work presents the analysis as well as the design and optimization considerations of a knee orthosis that is based on a Watt’s six-bar linkage. The main aim is to lay the foundations for analytical design and development of a knee orthosis that is cost-effective, self-cancelling and optimized for passive-active energy exchange as well as energy harvesting and return.
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U2 - 10.1007/978-3-030-01887-0_4
DO - 10.1007/978-3-030-01887-0_4
M3 - Chapter
AN - SCOPUS:85055016802
T3 - Biosystems and Biorobotics
SP - 18
EP - 22
BT - Biosystems and Biorobotics
PB - Springer International Publishing
ER -