Abstract
In this study, a new exoskeleton leg design for the human motion assistance and rehabilitation use is proposed. The structural solution of the leg mechanism is analysed and a mechanical design solution is developed in Solid Works. The 3D model is used for design optimization and simulation purposes. The study of the leg mechanism is complete with a kinematic analysis, solved with a computational algorithm in Mathlab software, in order to obtain numerical results with plots. The rehabilitation exoskeleton is based on a five links planar mechanism, and design to fulfil human main locomotion tasks. A proper dynamic model of the proposed rehabilitation exoskeleton system is build in ADAMS multi body dynamics software and used to obtain numerical results for exoskeleton motion parameters with plots. These results consist in motion parameters of the exoskeleton solution and exoskeleton gait trajectories, being very useful to appreciate the exoskeleton feasibility and usefulness for human motion assistance and rehabilitation purposes.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Chen, B., et al.: Recent developments and challenges of lower extremity exoskeletons. J. Orthop. Transl. 5, 26–37 (2016)
Anama, K., Al-Jumaily, A.A.: Active exoskeleton control systems: state of the art. Procedia Eng. 41, 988–994 (2012)
DÃaz, I., Gil, J.J., Sánchez, E.: Lower-limb robotic rehabilitation: literature review and challenges. J. Robot. 2011, 11 (2011)
Yan, T., et al.: Review of assistive strategies in powered lower-limb orthoses and exoskeletons. Robot. Auton. Syst. 64, 120–136 (2015)
Huo, W., et al.: Lower limb wearable robots for assistance and rehabilitation: a state of the art. IEEE Syst. J. 10(3), 1068–1081 (2016)
Plitea, N., et al.: Kinematic analysis of an exoskeleton-based robot for elbow and wrist rehabilitation. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds.) Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol. 54. Springer, Heidelberg (2018)
Copilusi, C., Ceccarelli, M., Carbone, G.: Design and numerical characterization of a new leg exoskeleton for motion assistance. Robotica 33, 1147–1162 (2015)
Geonea, I., Ceccarelli, M., Copilusi, C.: New assistive device for people with motor disabilities. Appl. Mech. Mater. 772, 574–579 (2015)
Copilusi, C., Ceccarelli, M., Dumitru, N., Carbone, G.: Design and simulation of a leg exoskeleton linkage for a human rehabilitation system. In: Visa, I. (ed.) The 11th IFToMM International Symposium on Science of Mechanisms and Machines. Mechanisms and Machine Science, vol. 18. Springer, Cham (2014)
Geonea, I., Ceccarelli, M., Carbone, G.: Design and analysis of an exoskeleton for people with motor disabilities. In: The 14th IFToMM World Congress, Taipei, Taiwan (2015)
Dumitru, N., Copilusi, C., Geonea, I., Tarnita, D., Dumitrache, I.: Dynamic analysis of an exoskeleton new ankle joint mechanism. In: Flores, P., Viadero, F. (eds.) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol. 24. Springer, Heidelberg (2015)
Geonea, I.D., Tarnita, D.: Design and evaluation of a new exoskeleton for gait rehabilitation. Mech. Sci. 8, 307–321 (2017). https://doi.org/10.5194/ms-8-307-2017
Tarnită, D.: Wearable sensors used for human gait analysis. Rom. J. Morphol. Embryol. 57(2), 373–382 (2016)
Tarnita, D., Geonea, I., Petcu, A., Tarnita, D.N.: Numerical simulations and experimental human gait analysis using wearable sensors. In: Husty, M., Hofbaur, M. (eds.) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol. 48. Springer, Heidelberg (2018)
Batayneh, W., et al.: Biomimetic design of a single DOF Stephenson III leg mechanism. Mech. Eng. Res. 3(2), 43–50 (2013)
Tarnita, D., Tarnita, D.N., Bizdoaca, N., Popa, D.: Contributions on the dynamic simulation of the virtual model of the human knee joint. Mater Werkst 40(1-2), 73–81 (2009). Materials Science and Engineering Technology, Special Edition Biomaterials, Willey-Vch
Acknowledgment
This work is supported by PN-III 239PED from 01/09/2017 grant of the Executive Agency for Higher Education, Research, Development and Innovation Funding (UEFISCDI).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Geonea, I., Tarnita, D., Carbone, G., Ceccarelli, M. (2019). Design and Simulation of a Leg Exoskeleton Linkage for Human Motion Assistance. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_11
Download citation
DOI: https://doi.org/10.1007/978-3-030-00329-6_11
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00328-9
Online ISBN: 978-3-030-00329-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)