Abstract
During human-robot interaction, the robot should react according to the change in the human body state. The stiffness is one of the important information. It is closely related to the stability and comfort in human movement. At present, the auxiliary equipment for standing does not consider the change of human joint stiffness. Therefore, this paper proposes a method that can identify the stiffness of the knee joint during human standing. Firstly, the human body structure is simplified to a three-section inverted pendulum model. The kinetic analysis is performed using Lagrange’s equation. Then the expression of joint stiffness is solved by joint torque. The angles and angular velocities of the joints of the lower limbs of the human body during standing are measured experimentally. The errors in the measurements are modified by geometric relationships. The stiffness of the human body during standing is derived by substituting them into the derived expressions. The result shows that the method can identify the stiffness of the human knee joint during standing.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Huo, W., Mohammed, S., Amirat, Y., Kong, K.: Active Impedance Control of a lower limb exoskeleton to assist sit-to-stand movement. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3530–3536 (2016)
Shepherd, M.K., Rouse, E.J.: Design and characterization of a torque-controllable actuator for knee assistance during sit-to-stand. In: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 2228–2231 (2016)
Seko, S., Matthew, R.P., Riemer, R.: Passive knee assistance affects whole-body biomechanics during sit-to-stand. In: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 4440–4444 (2019)
Chuy, O., Hirata, Y., Wang, Z., Kosuge, K.: Approach in assisting a sit-to-stand movement using robotic walking support system. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4343–4348 (2006)
Furusawa, T., Sawada, T., Fujiki, N., Suzuki, R., Hofer, E.P.: Practical assistive device for sit-to-stand tasks. In: 2017 IEEE 6th Global Conference on Consumer Electronics (GCCE), pp. 1–3 (2017)
Kim, S.-W., Song, J., Suh, S., Lee, W., Kang, S.: Design and experiment of a passive sit-to-stand and walking (STSW) assistance device for the elderly. In: 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 1781–1784 (2018)
Daines, K., Lemaire, E.D., Smith, A., Herbert-Copley, A.: Sit-to-stand and stand-to-sit crutch use for lower extremity powered exoskeletons. In: 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), pp. 358–363 (2017)
Kamali, K., Akbari, A.A., Akbarzadeh, A.: Trajectory generation and control of a knee exoskeleton based on dynamic movement primitives for sit-to-stand assistance. Adv. Robot. 30(13), 846–860 (2016)
Qureshi, M.H., Masood, Z., Rehman, L., Owais, M., Khan, M.U.: Biomechanical design and control of lower limb exoskeleton for sit-to-stand and stand-to-sit movements. In: 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp. 1–6 (2018)
Shamaei, K., Cenciarini, M., Adams, A.A., Gregorczyk, K.N., Schiffman, J.M., Dollar, A.M.: Biomechanical effects of stiffness in parallel with the knee joint during walking. IEEE Trans. Biomed. Eng. 62(10), 2389–2401 (2015)
Pfeifer, S., Vallery, H., Hardegger, M., Riener, R., Perreault, E.J.: Model-based estimation of knee stiffness. IEEE Trans. Biomed. Eng. 59(9), 2604–2612 (2012)
Roy, A., et al.: Measurement of human ankle stiffness using the anklebot. In: 2007 IEEE 10th International Conference on Rehabilitation Robotics, pp. 356–363 (2007)
Smidt, G.: Biomechanical analysis of knee flexion and extension. J. Biomech. 6(1), 79–92 (1973)
Misgeld, B.J.E., Lüken, M., Riener, R., Leonhardt, S.: Observer-based human knee stiffness estimation. IEEE Trans. Biomed. Eng. 64(5), 1033–1044 (2017)
Lahiff, C.-A., Ramakrishnan, T., Kim, S.H., Reed, K.: Knee orthosis with variable stiffness and damping that simulates hemiparetic gait. In: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 2218–2221 (2016)
Acknowledgement
This work was supported in part by the National Natural Science Foundation of China under Grant 52075178 and Grant 52130508; and the Opening Project of Key Laboratory of Safety of Intelligent Robots for State Market Regulation, PR China under Grant GQI-KFKT202201.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Cheng, G., Huang, Y., Zhang, X. (2023). A Method for Identifying Knee Joint Stiffness During Human Standing. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_1
Download citation
DOI: https://doi.org/10.1007/978-981-99-6483-3_1
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6482-6
Online ISBN: 978-981-99-6483-3
eBook Packages: Computer ScienceComputer Science (R0)