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International Conference on Innovations Induced by Research in Technical Systems

IIRTS 2019: Innovations Induced by Research in Technical Systems pp 106–117Cite as

Analysis of the Internal Load the Ankle Joint Module as the Basic Structural Assembly of the Lower Limb Rehabilitation Exoskeleton

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Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

The publication presents a global outline of the construction of the lower limb rehabilitation exoskeleton. The main focus was put on the structure of the exoskeleton’s ankle assembly cooperating with the patient’s ankle joint. Based on the geometrical properties of the assembly a three-dimensional model was developed using the Finite Element Method (FEM) for determining the stresses and displacements of components subjected to variable loads. In the FEM model, finite elements of the 3D-solid type and beam type were used. To determine the external loads an experiment was performed using a dynamometric platform by means which the ground reaction forces, excited by a patient wearing the exoskeleton, were measured. During testing and analysis, particular attention was focused to orthotropic ABS material components manufactured with 3D printing technology. The work contains partial data obtained from strength tests of samples manufactured by a 3D printer. The results of measured strength parameters that describe the mentioned orthotropy are implemented by defining a suitable material model in the FEM model of the tested assembly. As a result of the numerical calculations performed, the stress fields of individual elements of the assembly were obtained. The distribution of stresses depends on the relative position of patient’s foot relative to the ground, on the loads generated by driving modules and inertial forces. Based on these stress values their amplitude variation were determined which enabled selecting parts that met the requirements construction strength, durability and safety of use of rehabilitation exoskeleton.

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Acknowledgement

Work done in the scope of the grant OPUS 9, No. 2015/17/B/ST8/01700

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Authors and Affiliations

  1. Faculty of Mechanical Engineering and Computer Science, Czestochowa University of Technology, Częstochowa, Poland

    Szczepan Śpiewak

  2. Department of Automation Biomechanics and Mechatronics, Lodz University of Technology, Łódź, Poland

    Jan Awrejcewicz & Wojciech Kunikowski

Authors
  1. Szczepan Śpiewak
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  2. Jan Awrejcewicz
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  3. Wojciech Kunikowski
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Corresponding author

Correspondence to Szczepan Śpiewak .

Editor information

Editors and Affiliations

  1. Faculty of Mechanical Engineering, Koszalin University of Technology, Koszalin, Poland

    Maciej Majewski

  2. Faculty of Mechanical Engineering, Koszalin University of Technology, Koszalin, Poland

    Wojciech Kacalak

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Śpiewak, S., Awrejcewicz, J., Kunikowski, W. (2020). Analysis of the Internal Load the Ankle Joint Module as the Basic Structural Assembly of the Lower Limb Rehabilitation Exoskeleton. In: Majewski, M., Kacalak, W. (eds) Innovations Induced by Research in Technical Systems. IIRTS 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-37566-9_10

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  • DOI: https://doi.org/10.1007/978-3-030-37566-9_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-37565-2

  • Online ISBN: 978-3-030-37566-9

  • eBook Packages: EngineeringEngineering (R0)

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