A novel method for personalized custom design of exoskeleton knee joint

This paper introduces a customized design method for the exoskeleton knee joint. We first proposed and analyzed a modular wearable sensor, which can measure the kinematic characteristics of knee joints to obtain the customized design parameters of artificial joints. And then we designed and analyzed a modular four-bar knee joint. Based on the measured data, we use the genetic algorithm to optimize the parameters of the four-bar mechanism. In particular, the sensor and the knee joint are designed in a modular way, and they can be used on the same platform. Finally, we carried out a series of comparative tests using customized joint and two other types of joints. The test results of the three joints show that the dynamic tracking accuracy of the customized joint is significantly better than the other two joints. The modular design method can be used to customize joints for different individuals, which not only can improve man-machine compatibility, but also simplifies the difficulty of customization and effectively reduces the cost.