Abstract
This paper presents studies concerning the design of exoskeletons for human lower limb motion assistance. A study concerning the structural and mechanical design in Solid Works is presented on the first part of the paper. In the second part, a human gait motion analysis with goniometer sensors is performed. Also, a kinematic characterization for the new proposed leg exoskeleton is performed. The exoskeleton achieved design is based on a seven-link mechanism, designed to accomplish requirements of human locomotion. The kinematic computational model and the obtained results with plots in ADAMS software are presented. The obtained simulation results are compared with experimental human gait, and they are useful to characterize the exoskeleton motion and to demonstrate suitable performance for human 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
Similar content being viewed by others
References
Anam K, Al-Jumaily AA (2012) Active exoskeleton control systems: state of the art. Procedia Eng 41:988–994
Chen B, Ma H, Qin LY, Gao F, Chan KM, Law SW, Liao WH (2016) Recent developments and challenges of lower extremity exoskeletons. J Orthop Trans 5:26–37
Choi B, Seo C, Lee S, Kim B (2019) Control of power-augmenting lower extremity exoskeleton while walking with heavy payload. Int J Adv Rob Syst 16(1)
DÃaz I, Gil JJ, Sánchez E (2011) Lower-limb robotic rehabilitation: literature review and challenges. J Rob 2011:11
Dollar AM, Herr H (2008) Lower extremity exoskeletons and active orthoses: challenges and state-of-the-art. IEEE Trans Rob 24(1):144–158
Edgerton VR, Day MK, Harkema S, Bejczy AK, Weiss JR (2003) U.S. Patent No. 6.666.831. U.S. Patent and Trademark Office, Washington, DC
Geonea I, Ceccarelli M, Carbone G (2015) Design and analysis of an exoskeleton for people with motor disabilities. In: Proceedings of the 14th IFToMM world congress, pp 33–40
Huo W, Mohammed S, Moreno JC, Amirat Y (2014) Lower limb wearable robots for assistance and rehabilitation: a state of the art. IEEE Syst J 10(3):1068–1081
Nabipour M, Moosavian SAA (2018) Dynamics modeling and performance analysis of RoboWalk. In: 2018 6th RSI international conference on robotics and mechatronics (IcRoM). IEEE, pp 445–450
Yan T, Cempini M, Oddo CM, Vitiello N (2015) Review of assistive strategies in powered lower-limb orthoses and exoskeletons. Rob Auton Syst 64:120–136
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Geonea, I., Dumitru, N., Copilusi, C., Margine, A., Racila, L. (2020). Kinematics and Design of a Leg Exoskeleton for Human Motion Assistance. In: Panuwatwanich, K., Ko, CH. (eds) The 10th International Conference on Engineering, Project, and Production Management . Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-1910-9_42
Download citation
DOI: https://doi.org/10.1007/978-981-15-1910-9_42
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-1909-3
Online ISBN: 978-981-15-1910-9
eBook Packages: EngineeringEngineering (R0)