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

<div>Definition of <svg height="12.4698pt" id="M101" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 15.6194 12.4698" width="15.6194pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M452 333C452 398 425 448 375 448C329 448 235 404 140 292H138L229 683C233 701 234 712 225 712C208 712 149 686 66 677L64 652H97C135 652 140 651 129 598L38 167C23 96 29 57 44 33C60 7 98 -12 132 -12C169 -12 232 3 290 41C383 102 452 223 452 333ZM365 316C365 199 308 87 239 49C221 39 200 35 183 35C137 35 99 70 112 163C116 191 123 215 129 233C190 316 290 392 330 392C348 392 365 372 365 316Z" id="g113-99"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="469" vert-adv-y="469"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,4.992,3.132)"><path d="M499 166C484 119 466 88 447 68C424 43 390 38 338 38C297 38 262 40 242 51C223 62 218 80 218 133V522C218 607 226 612 309 617V650H41V617C124 612 131 605 131 522V129C131 45 123 38 38 33V0H497C505 30 529 128 534 160L499 166Z" id="g58-74"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="548" vert-adv-y="548"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.979,3.132)"><path d="M499 166C484 119 466 88 447 68C424 43 390 38 338 38C297 38 262 40 242 51C223 62 218 80 218 133V522C218 607 226 612 309 617V650H41V617C124 612 131 605 131 522V129C131 45 123 38 38 33V0H497C505 30 529 128 534 160L499 166Z" id="g58-74"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="548" vert-adv-y="548"></glyph.data></g></svg> line elements. Angle values <svg height="9.49473pt" id="M102" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 6.59789 9.49473" width="6.59789pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z" id="g113-230"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="498" vert-adv-y="498"></glyph.data></g></svg> and <svg height="9.39034pt" id="M103" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 7.69399 9.39034" width="7.69399pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M559 271C559 395 493 448 433 448C370 448 304 394 275 297C259 245 235 121 219 37C157 54 113 110 113 201C113 310 180 386 276 429L265 457C131 410 23 326 23 186C23 83 86 5 211 -10C180 -159 167 -220 158 -252L165 -261C198 -255 236 -246 251 -218L287 -5C421 9 559 119 559 271ZM484 273C484 144 400 40 293 33L352 331C364 389 382 406 405 406C431 406 484 370 484 273Z" id="g113-253"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="582" vert-adv-y="582"></glyph.data></g></svg> (selected as example) remain constant for every calf (lower leg) position.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications 