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Design, simulation and modelling of auxiliary exoskeleton to improve human gait cycle

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Abstract

Exoskeleton is a walking assistance device that improves human gait cycle through providing auxiliary force and transferring physical load to the stronger muscles. This device takes the natural state of organ and follows its natural movement. Exoskeleton functions as an auxiliary device to help those with disabilities in hip and knee such as devotees, elderly farmers and agricultural machinery operators who suffer from knee complications. In this research, an exoskeleton designed with two screw jacks at knee and hip joints. To simulate extension and flexion movements of the leg joints, bearings were used at the end of hip and knee joints. The generated torque and motion angles of these joints obtained as well as the displacement curves of screw jacks in the gait cycle. Then, the human gait cycle was simulated in stance and swing phases and the obtained torque curves were compared. The results indicated that they followed the natural circle of the generated torque in joints with a little difference from each other. The maximum displacement obtained 4 and 6 cm in hip and knee joints jack respectively. The maximum torques in hip and knee joints were generated in foot contact phase. Also the minimum torques in hip and knee joints were generated in toe off and heel off phases respectively.

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Acknowledgements

The authors would like to thank the University of Shahrekord for providing the laboratory facilities and financial support for this research.

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Authors and Affiliations

  1. Department of Mechanical Engineering of Biosystems, University of Shahrekord, P.O. Box 115, Shahrekord, Iran

    O. Ashkani & A. Maleki

  2. Department of Biomedical Engineering, Faculty of Engineering, University of Isfahan, HezarJerib.st, Isfahan, P.O. Box 81746-73441, Iran

    N. Jamshidi

Authors
  1. O. Ashkani
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  2. A. Maleki
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  3. N. Jamshidi
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Correspondence to A. Maleki.

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The authors declare that they have no conflict of interest.

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Regarding use of human motion data from the reference [22] and simulation software, all ethical codes have been considered.

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Ashkani, O., Maleki, A. & Jamshidi, N. Design, simulation and modelling of auxiliary exoskeleton to improve human gait cycle. Australas Phys Eng Sci Med 40, 137–144 (2017). https://doi.org/10.1007/s13246-016-0502-6

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  • DOI: https://doi.org/10.1007/s13246-016-0502-6

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