Experimental Validation of an Exoskeleton for Motion Assistance

Abstract

In this paper experimental investigations concerning the prototype validation of an exoskeleton for human gait rehabilitation are presented. The proposed exoskeleton is intended for human legs motion assistance, being a low cost solution. The exoskeleton provides motion assistance for human hip and knee joint. The experimental gait analysis of the exoskeleton and assisted human subject is performed with goniometers sensors. These sensors are attached to the exoskeleton hip and knee joints and measure the angle variation. The results obtained for the exoskeleton motion are compared with those obtained in case of a healthy human subject. Angular variation corresponding to a step, as a comparison for human and exoskeleton joints is performed. The conclusion is that the designed exoskeleton is proper for human gait motion assistance, because the joints motion is comparable with the human subject.