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Mechanisms, Transmissions and Applications pp 69–76Cite as

Developments of a Knee Motion Assist Mechanism for Wearable Robot with a Non-circular Gear and Grooved Cams

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 3))

Abstract

For wearable robot, the active knee joint assist mechanism has been developed. Especially, this mechanism is driven by a non-circular gear and grooved cams. This mechanism rotates and slides simultaneously, which has 2 degree-of-freedom. And relation between a rotation and a sliding motion can approximate arbitrary mathematical function. And using this mechanism, the knee joint can flex until 130degrees. It is larger than the angle of a conventional joint. In this report, the motion of a knee flexion is analyzed. We propose the fundamental design method. And to move smoothly, we investigate the motion curves. And the optimized locus of a non-circular gear pitch and a grooved cam are shown. Also, the prototype knee joint assist mechanism is evaluated. It is clear that proposed mechanism is useful for the motion assist of a knee joint.

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References

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Acknowledgments

The author is grateful to Dr. Katori, Tecpha-Japan Co., for cooperating to make the non-circular gear.

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Authors and Affiliations

  1. University of Yamanashi, Yamanashi, Japan

    H. Terada, Y. Zhu, M. Suzuki & C. Cheng

  2. Suncall Engineering Corporation,  , Japan

    R. Takahashi

Authors
  1. H. Terada
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  2. Y. Zhu
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  3. M. Suzuki
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  4. C. Cheng
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  5. R. Takahashi
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Corresponding author

Correspondence to H. Terada .

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Editors and Affiliations

  1. , Mechanical Engineering Faculty, Politehnica University of Timişoara, Bv. Mihai Viteazul 1, Timişoara, RO-300222, Romania

    Erwin-Christian Lovasz

  2. , University Aachen, RWTH Aachen, Eilfschornsteinstrasse 18, Aachen, 52056, Germany

    Burkhard Corves

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© 2012 Springer Science+Business Media B.V.

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Terada, H., Zhu, Y., Suzuki, M., Cheng, C., Takahashi, R. (2012). Developments of a Knee Motion Assist Mechanism for Wearable Robot with a Non-circular Gear and Grooved Cams. In: Lovasz, EC., Corves, B. (eds) Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 3. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-2727-4_6

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  • DOI: https://doi.org/10.1007/978-94-007-2727-4_6

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-2726-7

  • Online ISBN: 978-94-007-2727-4

  • eBook Packages: EngineeringEngineering (R0)

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