ExoKnee: Pneumatic Mechatronic Knee Exoskeleton with EMG Control for Elderly Walking Support

Nacarino A.; Sanchez B.; Palomares R.; Valer F.S.; Cornejo J.; Vargas M. · Proceedings - International Conference on Smart-Green Technology in Electrical and Information Systems, ICSGTEIS (2025) · DOI: 10.1109/icsgteis68532.2025.11284388

Resumen

This paper presents ExoKnee, a pneumatic knee exoskeleton to provide mobility support for elderly adults. The system was designed using standardized anthropometric measurements (ISO 7250-1:2017) to ensure proper ergonomic fit. The device integrated a pneumatic actuator (FESTO DSNU-S-12-50-P-A-MQ); with a control system based on electromyography (EMG) signals, which allowed the execution of flexion and extension movements; subsequently, a biomechanical model was developed in OpenSim from which realistic joint kinematics data were extracted, which guided dynamic simulations in MATLAB/Simulink. The mechanical structure was validated through Computer-Aided Design (CAD) and the kinematic behavior was evaluated in CoppeliaSim, simulating a rehabilitation environment with a virtual patient performing repetitive exercises. Finally, a functional prototype was manufactured through 3D printing; which achieved a range of motion from 109° to 175°, with an absolute error of 8.16%; altogether, ExoKnee stands out for its accessible, modular, and anthropometrically adapted design; therefore, it is proposed as an inclusive technology for walking support in elderly adults.

Instituciones: Universidad Ricardo Palma; Universidad Tecnológica del Perú