Design and biomechanical analysis of a self-force source power-assisted knee orthotics actuated by liquid spring_Journal of Biomedical Engineering

Authors：

 ZHANG Xuan ¹ , FENG Shuo ¹ , CHEN Zhenxian ¹ , ZHANG Jing ¹ , JIN Zhongmin ²

1. School of Construction Machinery, Chang’an University, Xi’an 710064, P.R. China;
2. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, P.R. China;

Corresponding?author：

ZHANG Xuan, Email: zhangxuan@chd.edu.cn

Keywords：

Knee joint; Liquid spring; Power-assisted knee orthosis; Biomechanics; Osteoarthritis

DOI：

10.7507/1001-5515.202206021

Video：

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A micro silicone oil liquid spring was designed and manufactured in this article. The performance of the liquid spring was studied by simulation analysis and mechanical test. A self-force source power-assisted knee orthosis was designed based on the liquid spring. This power-assisted knee orthosis can convert the kinetic energy of knee flexion into the elastic potential energy of liquid spring for storage, and release elastic potential energy to generate assisted torque which drives the knee joint for extension. The results showed that the average maximum reset force of the liquid spring was 1 240 N, and the average maximum assisted torque for the knee joint was 29.8 N·m. A musculoskeletal multibody dynamic model was used to analyze the biomechanical effect of the knee orthosis on the joint during knee bending (90°knee flexion). The results showed that the power-assisted knee orthosis could effectively reduce the biomechanical load of the knee joint for the user with a body weight of 80 kg. The maximum forces of the femoral-tibial joint force, patellar-femoral joint force, and quadriceps-ligament force were reduced by 24.5%, 23.8%, and 21.2%, respectively. The power-assisted knee orthosis designed in this article provides sufficient assisted torque for the knee joint. It lays a foundation for the subsequent commercial application due to its small size and lightweight.

Citation： ZHANG Xuan, FENG Shuo, CHEN Zhenxian, ZHANG Jing, JIN Zhongmin. Design and biomechanical analysis of a self-force source power-assisted knee orthotics actuated by liquid spring. Journal of Biomedical Engineering, 2022, 39(6): 1199-1208, 1217. doi: 10.7507/1001-5515.202206021 Copy

1.	鄧思危,陳則亦,劉志科,等.基于城鎮醫保數據庫骨關節傷病的流行病學研究.北京大學學報:醫學版, 2020, 52(3):527-534.
2.	何雪梅,劉潔珍,李志華,等.社區老年退行性膝關節炎患者生活質量與家庭功能情況調查. 廣東醫學, 2013, 34(13): 2090-2091.
3.	程媛. 積極老齡化背景下"醫養結合"養老模式研究. 贛州: 江西理工大學, 2020.
4.	Sarzi-Puttini P, Cimmino M A, Scarpa R, et al. Osteoarthritis: an overview of the disease and its treatment strategies. Seminars in Arthritis and Rheumatism, 2005, 35(1):1-10.
5.	Heekin R D, Fokin A A. Incidence of bicompartmental osteoarthritis in patients undergoing total and unicompartmental knee arthroplasty: is the time ripe for a less radical treatment?. J Knee Surg, 2014, 27(1): 77-81.
6.	Donell S T, Glasgow M. Isolated patellofemoral osteoarthritis. Knee, 2007, 14(3):169-176.
7.	Mcalindon T E, Snow S, Cooper C, et al. Radiographic patterns of osteoarthritis of the knee joint in the community:the importance of the patellofemoral joint. Annals of the Rheumatic Diseases, 1992, 51(7):844-849.
8.	Hinman R S, Crossley K M. Patellofemoral joint osteoarthritis:an important subgroup of knee osteoarthritis. Rheumatology, 2007, 46(7):1057-1062.
9.	Waller C, Hayes D, Block J E, et al. Unload it: the key to the treatment of knee osteoarthritis. Knee Surg Sports Traumatol Arthrosc, 2011, 19(11): 1823-1829.
10.	龍雄武, 任樂夫, 彭偉, 等. 膝關節可調外翻矯形器在膝骨關節炎中的應用. 中國康復, 2014, (3): 238-239.
11.	Gross KD, Hillstrom HJ. Noninvasive devices targeting the mechanics of osteoarthritis. Rheum Dis Clin North Am, 2008, 34(3): 755-776.
12.	Chaichaowarat R, Kinugawa J, Kosuge K. Unpowered knee exoskeleton reduces quadriceps activity during cycling. Engineering, 2018, 4(4): 471-478.
13.	Wu Pengfan, Chen Xiaoan, He Ye, et al. Unpowered knee exoskeleton during stair descent//2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE), Budapest: IEEE, 2021: 106-110.
14.	Dollar A M, Herr H. Design of a quasi-passive knee exoskeleton to assist running// 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice: IEEE, 2008: 747-754.
15.	Spring A N, Kofman J, Lemaire E D. Design and evaluation of an orthotic knee-extension assist. IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2012, 20(5):678-687.
16.	Chaichaowarat R, Granados D, Kinugawa J, et al. Passive knee exoskeleton using torsion spring for cycling assistance// IEEE/RSJ International Conference on Intelligent Robots & Systems, Vancouver: IEEE, 2017: 3069-3074.
17.	Ranaweera R, Gopura R, Jayawardena T, et al. Development of a passively powered knee exoskeleton for squat lifting. Journal of Robotics Networking and Artificial Life, 2018, 5(1): 45.
18.	Yuan Bo, Li Bo, Chen Yong, et al. Designing of a passive knee-assisting exoskeleton for weight-bearing. ICIRA 2017: Intelligent Robotics and Applications. 2017: 273-285.
19.	Xie L, Huang G, Huang L, et al. An unpowered flexible lower-limb exoskeleton: walking assisting and energy harvesting. IEEE/ASME Transactions on Mechatronics, 2019, 24(5):2236-2247.
20.	Komnik I, David S, Funken J, et al. Compromised knee internal rotation in total knee arthroplasty patients during stair climbing. PLoS One, 2018, 13(10): e0205492.
21.	中國科學院蘭州化學研究物理研究所. 硅油. 蘭州: 甘肅人民出版社, 1973.
22.	吳祺. 硅油與潤滑. 陜西師范大學學報:自然科學版, 1981:163-172.
23.	賈楠. 基于傷員運輸舒適性的第四代輪式機動平臺減振優化研究. 天津: 中國人民解放軍軍事醫學科學院, 2017.
24.	Bertomeu J M, Lois J M, Guillem R B, et al. Development of a hinge compatible with the kinematics of the knee joint. Prosthet Orthot Int, 2007, 31(4): 371-383.
25.	Zhang X, Chen Z X, Wang L, et al. Prediction of hip joint load and translation using musculoskeletal modeling with force-dependent kinematics and experimental validation. Journal of Engineering in Medicine, 2015, 229(7):477-490.
26.	Morrey J M, Lambrecht B, Horchler A D, et al. Highly mobile and robust small quadruped robots// IEEE/RSJ International Conference on Intelligent Robots & Systems, Las Vegas: IEEE, 2003: 82-87.
27.	Wijayaratne S P, Teichtahl A J, Wluka A E, et al. Patellofemoral osteoarthritis: new insights into a neglected disease. Futur Rheumatol., 2007, 2(2):193–202.
28.	Messier S P, Resnik A E, Beavers D P, et al. Intentional weight loss in overweight and obese patients with knee osteoarthritis: is more better?. Arthritis Care Res (Hoboken), 2018, 70(11): 1569-1575.

1. 鄧思危,陳則亦,劉志科,等.基于城鎮醫保數據庫骨關節傷病的流行病學研究.北京大學學報:醫學版, 2020, 52(3):527-534.
2. 何雪梅,劉潔珍,李志華,等.社區老年退行性膝關節炎患者生活質量與家庭功能情況調查. 廣東醫學, 2013, 34(13): 2090-2091.
3. 程媛. 積極老齡化背景下"醫養結合"養老模式研究. 贛州: 江西理工大學, 2020.
4. Sarzi-Puttini P, Cimmino M A, Scarpa R, et al. Osteoarthritis: an overview of the disease and its treatment strategies. Seminars in Arthritis and Rheumatism, 2005, 35(1):1-10.
5. Heekin R D, Fokin A A. Incidence of bicompartmental osteoarthritis in patients undergoing total and unicompartmental knee arthroplasty: is the time ripe for a less radical treatment?. J Knee Surg, 2014, 27(1): 77-81.
6. Donell S T, Glasgow M. Isolated patellofemoral osteoarthritis. Knee, 2007, 14(3):169-176.
7. Mcalindon T E, Snow S, Cooper C, et al. Radiographic patterns of osteoarthritis of the knee joint in the community:the importance of the patellofemoral joint. Annals of the Rheumatic Diseases, 1992, 51(7):844-849.
8. Hinman R S, Crossley K M. Patellofemoral joint osteoarthritis:an important subgroup of knee osteoarthritis. Rheumatology, 2007, 46(7):1057-1062.
9. Waller C, Hayes D, Block J E, et al. Unload it: the key to the treatment of knee osteoarthritis. Knee Surg Sports Traumatol Arthrosc, 2011, 19(11): 1823-1829.
10. 龍雄武, 任樂夫, 彭偉, 等. 膝關節可調外翻矯形器在膝骨關節炎中的應用. 中國康復, 2014, (3): 238-239.
11. Gross KD, Hillstrom HJ. Noninvasive devices targeting the mechanics of osteoarthritis. Rheum Dis Clin North Am, 2008, 34(3): 755-776.
12. Chaichaowarat R, Kinugawa J, Kosuge K. Unpowered knee exoskeleton reduces quadriceps activity during cycling. Engineering, 2018, 4(4): 471-478.
13. Wu Pengfan, Chen Xiaoan, He Ye, et al. Unpowered knee exoskeleton during stair descent//2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE), Budapest: IEEE, 2021: 106-110.
14. Dollar A M, Herr H. Design of a quasi-passive knee exoskeleton to assist running// 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice: IEEE, 2008: 747-754.
15. Spring A N, Kofman J, Lemaire E D. Design and evaluation of an orthotic knee-extension assist. IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2012, 20(5):678-687.
16. Chaichaowarat R, Granados D, Kinugawa J, et al. Passive knee exoskeleton using torsion spring for cycling assistance// IEEE/RSJ International Conference on Intelligent Robots & Systems, Vancouver: IEEE, 2017: 3069-3074.
17. Ranaweera R, Gopura R, Jayawardena T, et al. Development of a passively powered knee exoskeleton for squat lifting. Journal of Robotics Networking and Artificial Life, 2018, 5(1): 45.
18. Yuan Bo, Li Bo, Chen Yong, et al. Designing of a passive knee-assisting exoskeleton for weight-bearing. ICIRA 2017: Intelligent Robotics and Applications. 2017: 273-285.
19. Xie L, Huang G, Huang L, et al. An unpowered flexible lower-limb exoskeleton: walking assisting and energy harvesting. IEEE/ASME Transactions on Mechatronics, 2019, 24(5):2236-2247.
20. Komnik I, David S, Funken J, et al. Compromised knee internal rotation in total knee arthroplasty patients during stair climbing. PLoS One, 2018, 13(10): e0205492.
21. 中國科學院蘭州化學研究物理研究所. 硅油. 蘭州: 甘肅人民出版社, 1973.
22. 吳祺. 硅油與潤滑. 陜西師范大學學報:自然科學版, 1981:163-172.
23. 賈楠. 基于傷員運輸舒適性的第四代輪式機動平臺減振優化研究. 天津: 中國人民解放軍軍事醫學科學院, 2017.
24. Bertomeu J M, Lois J M, Guillem R B, et al. Development of a hinge compatible with the kinematics of the knee joint. Prosthet Orthot Int, 2007, 31(4): 371-383.
25. Zhang X, Chen Z X, Wang L, et al. Prediction of hip joint load and translation using musculoskeletal modeling with force-dependent kinematics and experimental validation. Journal of Engineering in Medicine, 2015, 229(7):477-490.
26. Morrey J M, Lambrecht B, Horchler A D, et al. Highly mobile and robust small quadruped robots// IEEE/RSJ International Conference on Intelligent Robots & Systems, Las Vegas: IEEE, 2003: 82-87.
27. Wijayaratne S P, Teichtahl A J, Wluka A E, et al. Patellofemoral osteoarthritis: new insights into a neglected disease. Futur Rheumatol., 2007, 2(2):193–202.
28. Messier S P, Resnik A E, Beavers D P, et al. Intentional weight loss in overweight and obese patients with knee osteoarthritis: is more better?. Arthritis Care Res (Hoboken), 2018, 70(11): 1569-1575.

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