Experimental Evaluation and Numerical Simulation in a Lower Limb Exoskeleton

In this paper, starting from a virtual model of a mannequin and from that of an exoskeleton designed for the rehabilitation of human knee movements, we set out to make numerical simulations in the ADAMS environment. The experimental data collected from a healthy human subject as biomechanical time series of the flexion–extension (flex-ext) angle variation of all 6 main joints of both lower limbs (LL) are introduced, as input data, in the virtual joints of a virtual mannequin, while the similar time series obtained for the physical prototype of the exoskeleton are used as input data for the virtual exoskeleton. During the walking simulations, the variation graphs of the ground reaction forces (GRF), as well as of the reaction forces developed in joints, are obtained.