In this paper, a new constructive model of an exoskeleton robotic system for human lower limb rehabilitation is presented. This robotic system uses as a constructive solution of the leg, a mono-mobile planar kinematic chain, which has an original structure. The constructive solution of the leg mechanism is designed and kinematically analysed when operating with the upper frame fixed to the base, but also when walking on a flat surface. The gait simulation is carried out by building a dynamic multibody model with the help of ADAMS dynamic analysis software for mobile mechanical systems. The results obtained for kinematic and dynamic parameters are analysed and conclusions on the feasibility and performance of the robotic system are presented.


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    Titel :

    Kinematic and Dynamic Analysis of a New Prototype Exoskeleton for Human Lower Limb Rehabilitation


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Romdhane, Lotfi (Herausgeber:in) / Mlika, Abdelfattah (Herausgeber:in) / Zeghloul, Saïd (Herausgeber:in) / Chaker, Abdelbadia (Herausgeber:in) / Laribi, Med Amine (Herausgeber:in) / Geonea, Ionut (Autor:in) / Racila, Laurentiu (Autor:in) / Dumitru, Ilie (Autor:in) / Grigorie, Laura (Autor:in) / Romanescu, Alina (Autor:in)

    Kongress:

    IFToMM International Symposium on Robotics and Mechatronics ; 2024 ; Djerba, Tunisia April 17, 2024 - April 19, 2024


    Erschienen in:

    Robotics and Mechatronics ; Kapitel : 18 ; 197-205


    Erscheinungsdatum :

    25.09.2024


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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