Dynamic Analysis and Structural Optimization of a New Exoskeleton Prototype for Lower Limb Rehabilitation

Geonea, Ionuț; Copiluși, Cristian; Margine, Alexandru; Dumitru, Sorin; Roșca, Adrian Sorin; Tarniţă, Daniela

doi:10.1007/978-3-031-32446-8_19

Cited by 2 publications

(1 citation statement)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to achieve solutions with movements closer to the human foot, it is proposed to introduce a kinematic chain of the articulated quadrilateral type in the knee joint, as shown in Figure 5b,c [36,37]. Thus, in Figure 5a-a structural solution is shown, where element 5 acts as a femur and element 7, through the IM segment, acts as a tibia.…”

Section: Optimal Design and Simulation Study Of The Proposed Structur...mentioning

confidence: 99%

A New Exoskeleton Prototype for Lower Limb Rehabilitation

Geonea,

Copilusi,

Dumitru

et al. 2023

Machines

View full text Add to dashboard Cite

This paper presents a new solution for an exoskeleton robotic system that is used for locomotor assistance in people with locomotor disabilities. As novel features of the present research, a novel structural solution of a plane-parallel kinematic chain, intended to be used as the leg of an exoskeleton robot, is proposed. A virtual prototype is made, on the basis of which kinematic and dynamic studies are carried out using ADAMS software for the dynamic analysis of multibody systems. The dynamic simulation of the exoskeleton is performed in two simulation situations: walking on a horizontal plane, as well as the simulation of motion assistance when climbing stairs. Following this analysis, it is noted that the robotic system achieves angular variations in the hip and knee joints similar to that of a human subject. As a result, the constructive solution is feasible, and the next stage of the study is to realize an experimental prototype by the rapid prototyping technique. The kinematic elements of the exoskeleton are designed to provide structural strength, to be easily manufactured by 3D printing and to be easy to assemble. For this purpose, the structural optimization is performed with the finite element method to eliminate stress concentrators. Finally, an experimental prototype of the exoskeleton robot is manufactured and assembled, whose motion is analyzed using ultrafast-camera-based video analysis.

show abstract

Section: Optimal Design and Simulation Study Of The Proposed Structur...mentioning

confidence: 99%

A New Exoskeleton Prototype for Lower Limb Rehabilitation

Geonea,

Copilusi,

Dumitru

et al. 2023

Machines

View full text Add to dashboard Cite

show abstract

Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Chen

Zhang

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

Lower limb-powered exoskeletons can help rehabilitate patients with lower limb disabilities. However, the changes in the biomechanical load on the human body when exoskeletons are used are still poorly understood. The goal of this study was to investigate the changes in kinematic and biomechanical parameters of the lower extremity exoskeleton when worn by normal subjects and patients with unilateral motor impairment using a virtual prototype. The effect of wearing the exoskeleton on gait was derived, and the basis for exoskeleton optimization was given. Virtual prototyping is a cost-effective method to validate the performance of exoskeleton robots. Therefore, two models, a human-exoskeleton model and an asymmetric movement disorder (SSP) subject-exoskeleton model, were developed in AnyBody software for this study. The human-exoskeleton model was driven by the kinematic data of 20 healthy participants walking in an exoskeleton at normal speed (3.6 km/h). As a comparison, the SSP subject-exoskeleton model was driven by data from five SSP subjects walking in an exoskeleton. The experimental results show that after wearing the lower limb exoskeleton, the walking gait satisfies the normal human gait characteristics, but some of the muscle forces suddenly increase. The maximum activation level does not exceed 1, which means that the exoskeleton does not cause muscle damage or fatigue in a short period of time. In both models, the vertical ground reaction force (GRF) Z correlation was the strongest (R > 0.90). The center of pressure (COP) X trajectory correlation was the weakest (R < 0.35). These findings will support the study of the effects of exoskeletal optimization. Also, some gait characteristics of exoskeletons worn by patients with unilateral dyskinesia can be initially explored.

show abstract

Dynamic Analysis and Structural Optimization of a New Exoskeleton Prototype for Lower Limb Rehabilitation

Cited by 2 publications

References 14 publications

A New Exoskeleton Prototype for Lower Limb Rehabilitation

A New Exoskeleton Prototype for Lower Limb Rehabilitation

Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Contact Info

Product

Resources

About