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Mathematical Problems in Engineering
Volume 2015, Article ID 145734, 14 pages
Research Article

Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

Graduate School of Science and Engineering, Tecnológico de Monterrey, Avenida E. Garza Sada 2501 Sur, 64849 Monterrey, NL, Mexico

Received 17 February 2015; Accepted 2 June 2015

Academic Editor: Yang Tang

Copyright © 2015 Eduardo Piña-Martínez and Ernesto Rodriguez-Leal. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Current trends in Robotics aim to close the gap that separates technology and humans, bringing novel robotic devices in order to improve human performance. Although robotic exoskeletons represent a breakthrough in mobility enhancement, there are design challenges related to the forces exerted to the users’ joints that result in severe injuries. This occurs due to the fact that most of the current developments consider the joints as noninvariant rotational axes. This paper proposes the use of commercial vision systems in order to perform biomimetic joint design for robotic exoskeletons. This work proposes a kinematic model based on irregular shaped cams as the joint mechanism that emulates the bone-to-bone joints in the human body. The paper follows a geometric approach for determining the location of the instantaneous center of rotation in order to design the cam contours. Furthermore, the use of a commercial vision system is proposed as the main measurement tool due to its noninvasive feature and for allowing subjects under measurement to move freely. The application of this method resulted in relevant information about the displacements of the instantaneous center of rotation at the human knee joint.