Kinematic and Dynamic Analysis of a Mechanism for Assisting Human Locomotion

Abstract

In this paper we will present a new robotic system designed to assist human locomotion. The purpose of using this exoskeleton is to rehabilitate people with locomotor disabilities. We will present the kinematic diagram of a new mechanism used as the leg of an exoskeleton for rehabilitation. We performed a kinematic analysis of the robotic system. The kinematic study is completed with a 3D design of the exoskeleton, based on which we will perform a dynamic simulation with the multibody analysis program MSC.ADAMS. The data obtained by dynamic analysis are also presented and commented, in order to highlight the performances of this new robotic system proposed.