Cam Mechanism Design for a Human Leg Exoskeleton

Abstract

The purpose of this study is to design and correlate, from theoretical aspects, a mathematical model for virtual prototyping of an actuation system from an exoskeleton human ankle joint. This model is a part of the virtual and experimental prototype from a mechatronic system for locomotion rehabilitation in case of disabled persons. Experimental tests were performed on a group of persons without locomotion deficiencies in order to obtain the pattern curve for cam mechanism design and also to validate the proposed prototype. The obtained database was also used to develop geometrical kinematic synthesis of the exoskeleton actuation mechanisms for other joints such as hip and knee.

Online Gait Generation for an Exoskeleton Used in Lower Limb Rehabilitation

“…Since the late 1960s, the lower limb exoskeleton has attracted extensive attention all over the world. With the overview of currently available lower limb exoskeletons, the wide application of lower limb exoskeleton is categorized into three types: gait rehabilitation (van Kammen et al, 2016, Zeilig et al, 2012, Simbolotti et al, 2016, walking assistance (Esquenazi et al, 2017, Zhang et al, 2017, and human augmentation (Dumitru et al, 2018).…”