Kinematic and Dynamic Analysis of a New Prototype Exoskeleton for Human Lower Limb Rehabilitation
摘要
In this paper, a new constructive model of an exoskeleton robotic system for human lower limb rehabilitation is presented. This robotic system uses as a constructive solution of the leg, a mono-mobile planar kinematic chain, which has an original structure. The constructive solution of the leg mechanism is designed and kinematically analysed when operating with the upper frame fixed to the base, but also when walking on a flat surface. The gait simulation is carried out by building a dynamic multibody model with the help of ADAMS dynamic analysis software for mobile mechanical systems. The results obtained for kinematic and dynamic parameters are analysed and conclusions on the feasibility and performance of the robotic system are presented.