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This paper introduces the structural synthesis of a novel mechanism designed for the leg of an exoskeleton robot intended for rehabilitation applications. Following the synthesis phase, a comprehensive kinematic and dynamic analysis was conducted theoretically and using the MSC Adams software suite to evaluate the performance and motion characteristics of the proposed mechanism. Based on these simulations, an experimental prototype was developed using rapid prototyping techniques. The results demonstrate the feasibility and effectiveness of the new design, paving the way for future enhancements and potential clinical applications.

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Development of a New Leg Mechanism for Exoskeleton Robots: Structural Synthesis, Dynamic Analysis, and Prototype Implementation

  • 会议论文

  • 发表日期：

    2025年

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  • Ionut Geonea,
  • Cristian Copilusi,
  • Daniela Tarnita

摘要

This paper introduces the structural synthesis of a novel mechanism designed for the leg of an exoskeleton robot intended for rehabilitation applications. Following the synthesis phase, a comprehensive kinematic and dynamic analysis was conducted theoretically and using the MSC Adams software suite to evaluate the performance and motion characteristics of the proposed mechanism. Based on these simulations, an experimental prototype was developed using rapid prototyping techniques. The results demonstrate the feasibility and effectiveness of the new design, paving the way for future enhancements and potential clinical applications.