Abstract
This paper discusses the requirements for designing a leg exoskeleton, which is intended for human rehabilitation purposes. The proposed exoskeleton is based on an underactuated mechanism to achieve a leg walking motion with desired human-like behavior. A design solution with appropriate parameters is presented. Its main peculiarities and the operation performances are preliminarily characterized via a dynamic simulation.
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Shuangji, Y., Carbone, G. (2020). Design and Simulation of an Underactuated Exoskeleton Mechanism for a User-Oriented Leg Exercising. In: Zeghloul, S., Laribi, M., Sandoval Arevalo, J. (eds) Advances in Service and Industrial Robotics. RAAD 2020. Mechanisms and Machine Science, vol 84. Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_9
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DOI: https://doi.org/10.1007/978-3-030-48989-2_9
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