Bio-Inspired Knee Joint: Trends in the Hardware Systems Development.
Bio-Inspired Knee Joint: Trends in the Hardware Systems Development.
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DOI：
10.3389/frobt.2021.613574
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发表时间：
2021
影响因子：
3.4
通讯作者：
Jafari A
中科院分区：
文献类型：
--
作者：
Etoundi AC;Semasinghe CL;Agrawal S;Dobner A;Jafari A
膝关节是人体下肢的一个复杂结构，在日常生活中起着重要的运动作用。然而，我们仍然没有完全达到我们可以复制膝盖骨和韧带的功能，以达到很大程度的成功。本文介绍了基于仿生概念的膝关节的发展趋势以及现代仿生膝关节在假肢、助力服和移动的机器人等研究领域的应用。本文还回顾了现有文献，以描述与生物启发膝关节相关的硬件和控制系统开发过程中的主要转折点。首先介绍了膝关节的解剖学和生物力学。然后从骨结构、肌肉和韧带结构以及控制策略等方面对近10年来发展起来的仿生膝关节进行了简要的综述。然后引入腿部外骨骼以增强缺乏肌肉力量的人类下肢的功能。总结了膝关节的设计考虑、设计新奇和工作原理。最后给出了仿真结果和实验结果并进行了分析。最后，总结了仿生膝关节的设计难点、设计考虑和未来发展方向。本文的目的是成为研究人员热衷于了解多年来在生物启发膝关节领域的发展的起点。
The knee joint is a complex structure that plays a significant role in the human lower limb for locomotion activities in daily living. However, we are still not quite there yet where we can replicate the functions of the knee bones and the attached ligaments to a significant degree of success. This paper presents the current trend in the development of knee joints based on bio-inspiration concepts and modern bio-inspired knee joints in the research field of prostheses, power-assist suits and mobile robots. The paper also reviews the existing literature to describe major turning points during the development of hardware and control systems associated with bio-inspired knee joints. The anatomy and biomechanics of the knee joint are initially presented. Then the latest bio-inspired knee joints developed within the last 10 years are briefly reviewed based on bone structure, muscle and ligament structure and control strategies. A leg exoskeleton is then introduced for enhancing the functionality of the human lower limb that lacks muscle power. The design consideration, novelty of the design and the working principle of the proposed knee joint are summarized. Furthermore, the simulation results and experimental results are also presented and analyzed. Finally, the paper concludes with design difficulties, design considerations and future directions on bio-inspired knee joint design. The aim of this paper is to be a starting point for researchers keen on understanding the developments throughout the years in the field of bio-inspired knee joints.