In this paper is carried out the selection and simulation of a one degrees of freedom (DOF) leg mechanism. The leg mechanism consist of a nine bar linkage and is based on a Low-cost Easy-operation idea. Virtual simulation tests of the model shows the feasible of the proposed leg mechanism, for human leg motion assistance. Kinematics and dynamics analysis of the leg mechanism is carried out. Finally, dynamic simulation results reveal the motion characteristics and performance of the leg mechanism.
In this paper an experimental research was performed in case of a human rehabilitation exoskeleton. The research aim was to evaluate the joint trajectories and the influence of the ground-foot contact by using two distinctive shapes of the exoskeleton foot. Thus an experimental motion analysis was used, called CONTEMPLAS and an exoskeleton prototype with 1DOF placed on a treadmill. The experimental activity was developed when the exoskeleton was used on walking activity. There were studied two types of foot shapes and also the generated impact of their form on the hip, knee and ankle joints trajectories during walking. The obtained results will be useful for the improvement of the exoskeleton orientation in space.
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