Passive knee exoskeleton using torsion spring for cycling assistance

Abstract

In this paper, we introduce a concept of passive knee exoskeleton for cycling assistance. Considering a knee moment and a knee angle varying with a pedal crank angle, the knee extension moment can be supported by a torsion spring storing energy from knee flexion in order to release it as the knee is extended. The reduction of knee extension effort is corresponding to the torsion spring stiffness and activation range. Exoskeleton prototypes were developed for the concept validation. A crossing four-bar mechanism was chosen for the knee joint to provide kinematic compatibility covering extreme knee flexion. Constant power cycling experiment was performed on a cycling trainer by a healthy subject wearing the exoskeletons on both legs. With the torsion spring support, the surface electromyography recorded from some major leg muscles shows the decrease of knee extensor muscle activity as the leg is moving around the pedal crank top dead center. Verifying the reduction of leg muscle fatigue over repetitive contractions in multiple subjects is our future plan of study.