Abstract
The paper deals with a new design for a low-cost lower limb exoskeleton, which allows a simple construction by using lightweight materials, an easier wearing and an adaptability to various human legs dimensions. The designed exoskeleton allows 3 DoFs for hip, knee and ankle joints. The actuation of the exoskeleton joints is achieved by one rotational servomotor and 2 electric linear motors. The CAD model was simulated by considering the exoskeleton with or without the human leg weight applied on a scaled CAD model. A prototype of the developed exoskeleton was manufactured and tested at LARM lab at the Cassino University.
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Acknowledgement
The first author has spent a period of study within Erasmus program in 2016 at LARM of Cassino University that is gratefully acknowledged.
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Iancu, C.A., Ceccarelli, M., Lovasz, EC. (2018). Design and Lab Tests of a Scaled Leg Exoskeleton with Electric Actuators. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_76
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DOI: https://doi.org/10.1007/978-3-319-61276-8_76
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