Dynamic Analysis of an Exoskeleton Robotic System for Stair Walking Assistance

This paper presents aspects of motion simulation and dynamic analysis of an exoskeleton for assisting the gait of people with disabilities when using access stairs. The design of the exoskeleton is carried out in the computer design environment SolidWorks. The dynamic simulation is carried out in conditions as close to reality as possible, taking into account the friction in the kinematic couplings of the robot exoskeleton. The results of the dynamic simulation in the case of stair walking validate the engineering feasibility of the proposed solution and the next stage of development is the construction of a physical prototype of the exoskeleton. For this purpose, we have used additive manufacturing technology. The physically realized robot is tested for the situation of its use by a human subject when walking on stairs.