Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

Jung Hoon Kim, Myounghoon Shim, Dong Hyun Ahn, Byoung Jong Son, Suk Young Kim, Deog Young Kim, Yoon Su Baek, Baek Kyu Cho

Research output: Contribution to journalArticlepeer-review

57 Citations (Scopus)


This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing walking and sitting motion controls while wearing the knee exoskeleton.

Original languageEnglish
Article number112
JournalInternational Journal of Advanced Robotic Systems
Issue number8
Publication statusPublished - 2015 Aug 20

Bibliographical note

Funding Information:
This study was supported by a grant from the Translational Research ?enter for Rehabilitation Robots, Korea National Rehabilitation ?enter, Ministry of Health and Welfare, Republic of Korea.

Publisher Copyright:
© 2015 Author(s).

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Science Applications
  • Artificial Intelligence


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