Motion Analysis and Design on Pneumatic Actuators for Knee Assistive Devices

In recent years, more and more forms of soft bending actuators have emerged, which have been widely disseminated due to their advantages such as low cost and simple manufacturing, but their design and structural analysis remain blank. In this paper, human motion data acquisition and simulation experiments were carried out on a foldable pneumatic bending actuators to design a reasonable FPBAs structure. Firstly, the NOKOV experimental platform was used to collect human data for three groups of movements: walking, half squatting, and leg lifting. A total of four subjects participated in the experiment, and key information such as Angle and torque was obtained. Based on this experiment, combined with the simulation experiment, the number of airbags and the driving timing of the FPBAs device were analyzed, and the closed-loop expression of the torque provided by the airbags was derived.