This technology is a knee joint guide device that features a planar rigid 6-bar linkage structure—consisting of three revolute joints, three prismatic joints, and four links—positioned between proximal and distal body links to provide a self-aligning function that accommodates the shifting instantaneous center of rotation during knee flexion.
Because it is difficult to replicate the unique instantaneous center of rotation path of an individual's knee joint using only simple revolute joints, conventional devices often cause physical discomfort. Furthermore, existing multi-degree-of-freedom mechanisms designed to address this issue are structurally complex, leading to reduced efficiency in force and speed transmission.
This technology proposes a 1-degree-of-freedom closed-loop system using a planar 6-bar linkage structure that combines three revolute joints and three prismatic joints. The structure, including the actuator, optimizes its mechanical position according to the knee flexion angle, allowing it to adapt to various body types without complex customization while efficiently delivering the torque required for walking. It is applicable to various fields, including rehabilitation, strength assistance, and industrial wearable robots, enhancing both walking convenience and quality of life while reducing physical strain on the wearer.
US12383417B2
