Dimensional synthesis of a leg mechanism

Pop, F.; Lovasz, Erwin-Christian; Pop, Cristian; Dolga, Valer

doi:10.1088/1757-899x/147/1/012083

Cited by 3 publications

(2 citation statements)

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“…The synthesis of leg mechanisms inspired by Theo Jansen's solution has been a research topic in the last years [22,23] for its advantages regarding the reduced number of DOFs, which makes it easier to control, the scalable design, the reduced impact on the ground during walking, and because of less energy consumption. The Theo Jansen mechanism was developed in [22] considering an adaptive and controllable mechanism on irregular ground.…”

Section: Introductionmentioning

confidence: 99%

“…The prototype developed was tested at various speeds and torques due to the presence of the speed control system provided in an electronic system, which enables the use of the prototype for various load-handling capacities. An eight-bar leg mechanism dimensional synthesis is presented in [23] as well. Compared to the prototype, the advantage of the proposed geometric model consists of a greater step height that helps the robotic structure overcome larger obstacles.…”

Section: Introductionmentioning

confidence: 99%

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Multicriteria Optimization of Lower Limb Exoskeleton Mechanism

Ibrayev,

Ibrayeva,

Rakhmatulina

et al. 2023

Applied Sciences

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Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees of freedom. The use of heavy servo-motors to handle torque in active joints results in complex and bulky designs, as highlighted in the existing literature. In this analytical study, we introduced a novel synthesis method with analytical solutions provided for synthesizing the lower-limb exoskeleton. Furthermore, we proposed a mathematical model of multicriteria optimization; as a result, we obtained several lower-limb exoskeleton mechanisms comprising only six links, well-suited to the human anatomical structure, exhibit superior trajectory accuracy, efficient force transmission, satisfactory step height, and having internal transfer segment of the foot.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%