Abstract
In this paper, we will present a new constructive solution of a robotic system for the rehabilitation of people with locomotor disabilities. In the first part of the paper, we performed an experimental analysis of human gait, with help a Biometrics Data Acquisition System. This step is necessary in order to perform a comparative analysis between human gait and developed exoskeleton movement. In a first stage, we presented a constructive solution for the mechanism that shapes the legs of the exoskeleton. This solution is based on a closed kinematic chain and is driven by a single motor. Based on the mechanism kinematic scheme, the virtual prototype model developed in the SolidWorks CAD environment is presented. The virtual prototype is used to perform a motion simulation in ADAMS dynamic analysis software. In this way, we performed a comparative analyse of the motions of healthy human subjects in relation to the motions realized by the designed exoskeleton.
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Geonea, I., Copiluși, C., Dumitru, S., Roșca, A.S. (2022). Design and Motion Simulation of a New Exoskeleton Leg Mechanism. In: Rauter, G., Carbone, G., Cattin, P.C., Zam, A., Pisla, D., Riener, R. (eds) New Trends in Medical and Service Robotics. MESROB 2021. Mechanisms and Machine Science, vol 106. Springer, Cham. https://doi.org/10.1007/978-3-030-76147-9_8
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