Aug 2026· Moratuwa Engineering Research Conference· pp. 1183-1188· 0 citations· 16 references
Abstract
The study introduces the design and analysis of a passive mechanical knee prosthesis aimed at improving stability and functional mobility for lower limb amputees. The proposed system includes a dual four bar linkage system that can replicate the natural flexion and extension of the human knee to facilitate both level and incline walking. The mechanism generates a moving instantaneous centre of rotation, posterior to the ground reaction force during the stance phase to produce a stabilizing extension moment, while allowing adequate flexibility during the swing phase. A kinematic model of the knee mechanism was used to analyze the motion characteristics and ensure smooth operation throughout the gait cycle. The fabricated prototype was tested on an able bodied human for both level and incline walking. The experimental results demonstrated the ability of the proposed mechanism in providing stable, controlled motion with a functional range suitable for assistive applications such as prosthetic devices.
Individuals with strokes or musculoskeletal conditions often experience a restricted shoulder range of motion, necessitating rehabilitation that is generally time-consuming, and due to high therapist workloads, patients often need to perform the exercises independently to complete their program. To address this, roboti...
This paper presents a cable-driven mechanism for forearm and wrist rehabilitation. The mechanism replicates the physiological range of motion of human forearm and wrist joints, enabling both active and passive rehabilitation training modes. The system consists of three degrees of freedom (DOFs). Forearm supination/pron...
Shuang Li, Guang-Hao Ren, Zhan-Li Wang et al.· 2026 6th International Confe...· 0 citations
Powered lower-limb exoskeletons hold promise for providing locomotion assistance to physically weak individuals, thereby enhancing their quality of life. However, ensuring the balance and safety of the human-robot system during dynamic walking remains a significant challenge for these robots, particularly under unexpec...
To address the problems of limited rehabilitation resources, difficulty in ensuring sufficient training intensity, and insufficient individualized training schemes for stroke patients with ankle dysfunction, this paper proposes a two-degree-of- freedom independently driven serial ankle rehabilitation robot based on the...
Yao Dai, Qing Tao, Chen-Yao Liu et al.· International Conference on...· 0 citations
Abstract Maintaining gait stability on sloped surfaces is a biomechanically demanding task. Previous studies revealed the effect of slopes on overall gait stability, but the joint-level mechanisms underlying the stability still remain unclear. Given that most active exoskeletons for gait assistance focus on providing a...
Jungho Lee, C. Kim, I. Park et al.· Royal Society Open Science· 0 citations
