SUMMARY This paper addresses attention to a design for low-cost exoskeleton with fairly simple construction, lightweight, easy wear and adapt human legs. The core is focused on cam-mechanism implementation at the ankle joint level of leg exoskeleton. engineering feasibility proposed characterized by numerical simulations process.

This paper addressed attention to the design of a new lower limb exoskeleton that can be used for human gait assistance as based on kinematic considerations. The designed leg had its own structure combination three mechanism types, namely Chebyshev mechanism, pantograph, and Stephenson six-bar mechanism. core focused inserting bar in order obtain an imposed motion at ankle joint level. Numerical simulations have been developed obtained results demonstrate engineering feasibility proposed...

In this paper, a new mechanism for human leg motion assistance rehabilitation purposes has been proposed. The structure of and its motions have used as inspiration design purposes. A 3D model the proposed system elaborated in Solid Works®, both simulation It is developed kinematic mechanism, useful further optimization. There build an experimental they are conducted researches. result shows that performs movements similar to those leg.

This paper addresses a design for an exoskeleton used human locomotion purposes in cases of people with neuromotor disorders. The reason starting this research was given by the development some intelligent systems walking recovery involved new therapy called stationary therapy. type will be case, through robotic system specially designed functional recovery. Thus, structure have patient lifting/positioning mechanism, special equipped sensors and actuators, treadmill walking, command control...

This paper presents a new solution for an exoskeleton robotic system that is used locomotor assistance in people with disabilities. As novel features of the present research, structural plane-parallel kinematic chain, intended to be as leg robot, proposed. A virtual prototype made, on basis which and dynamic studies are carried out using ADAMS software analysis multibody systems. The simulation performed two situations: walking horizontal plane, well motion when climbing stairs. Following...

This paper studies the kinematics and dynamics of a poly-articulated robot. The robot can be used in hardly accessible places special environments. includes two main parts: flexible unit an actuation unit. consists three modules specially designed for serving complex 3D workspace. Each module has vertebrae rigid disks. simulation is achieved with MSC Adams 2012 ANSYS R14.5 software. Thus, we aim to determine whether variation laws depend on time kinematic parameters each part specific...

Legs are the mostimportant elements for accomplishing human physical work includingtransportation or displacement. In this paper, a new mechanism legmotion assistance has been proposed rehabilitation purposes. The structureof leg and its motions have used as inspiration design purposes.For simple control algorithm, legs mustgenerate an ovoid path of foot, by uniform rotating actuating crank. Themechanism must generate approximately linear trajectory foot duringpropulsion. resulting linkage...

The paper tackles conceptual solutions and theoretical experimental analysis methods to prototype a robotic system used in surgery. put forward consists of an actuation unit, command control flexible unit. unit displays complex structure consisting rigid bodies (vertebrae) deformable (drive wires). present research study was carried out during three stages: establishing the mathematical models according movement, development virtual prototyping developed prototype. dynamic is based on theory...

In this paper, we present a new robot model designed to assist human locomotion. The kinematic structure of the is presented, and equations that characterize movement are written. Based on structure, modeled in CAD design environment, SolidWorks, motion simulation performed MSC.ADAMS environment. graphs variation dynamic parameters analyzed. analysis robot's motion, conclusions drawn regarding usefulness robot.

In this paper a human upper limb robotic system is analyzed through an experimental study. The analysis aim to validate type in order use it some kinetotherapy programs for the recovery. research was performed by using special equipment called CONTEMPLAS which enables evaluate angular variations 3D environment. used has two high-speed cameras can record and establish developed at joints level. This consists of three main parts. first part there actual study systems specially designed...

This paper presents studies on the kinematics and dynamics of a new robotic system exoskeleton type to assist human locomotion. Based previous achievements, we designed an original solution. this structural solution, created virtual model using SolidWorks computerized design software. is used for two purposes, namely in first stage will perform motion simulation software dynamic analysis mobile mechanical systems ADAMS_View then based construction prototype manufacture by classical...

This paper addresses attention to a research regarding the design of an exoskeleton used for children walking rehabilitation. The core is focused on chain transmissions implementation in order command and control each joint by six servomotors. Thus, using techniques, especially modeling simulation MSC Adams environment, it will be demonstrate engineering feasibility proposed design.

This paper addresses attention to a low-cost command and control unit design which will be used on leg exoskeleton especially designed for persons with neuro-locomotor disorders. The research aim is obtain an user friendly interface programming two linear actuators structure. For achieving this, experimental analyses were performed in order validate the prototype also proposed electronic unit.