A 6 DEGREES OF FREEDOM KINEMATICAL MODEL OF THE KNEE FOR THE DESIGN OF A NEW REHABILITATION DEVICE

Lynda Seddiki (1, 2) , Kevin Guelton (1) , Lissan Afilal (1) , J. Zaytoon (1)

1 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804
2 LIASD - Laboratoire d'Informatique Avancée de Saint-Denis

Isokinetics devices are widely used in the field of knee rehabilitation. This kind of apparatus often solicits the knee joint in the sagittal plane with one degree of freedom. With the development of exoskeletons and intelligent prostheses, more precise control applications to assistive robotics for rehabilitation are possible. Our aim is to design a new apparatus for the 3 dimensional control of knee joint movements for sports training and rehabilitation. The first step to design such apparatus is to specify its kinematics. This paper presents a kinematical model of the knee joint that will be employed to specify the future Device kinematics and a preliminary control scheme.

Domaines: Automatique / Robotique; Biomécanique [physics.med-ph]

Lynda Seddiki, Kevin Guelton, Lissan Afilal, J. Zaytoon. A 6 DEGREES OF FREEDOM KINEMATICAL MODEL OF THE KNEE FOR THE DESIGN OF A NEW REHABILITATION DEVICE. 3rd IFMBE European Medical and Biological Engineering Conference (EMBEC'05), Nov 2005, Prague, Czech Republic. ⟨hal-02291509⟩