A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance
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 exoskeleton had on its own structure a combination of three mechanism types, namely a Chebyshev mechanism, a pantograph, and...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/10/925 |
| _version_ | 1797573150500716544 |
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| author | Cristian Copilusi Marco Ceccarelli Sorin Dumitru Ionut Geonea Alexandru Margine Dorin Popescu |
| author_facet | Cristian Copilusi Marco Ceccarelli Sorin Dumitru Ionut Geonea Alexandru Margine Dorin Popescu |
| author_sort | Cristian Copilusi |
| collection | DOAJ |
| description | 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 exoskeleton had on its own structure a combination of three mechanism types, namely a Chebyshev mechanism, a pantograph, and a Stephenson six-bar mechanism. The design core focused on inserting the Stephenson six-bar bar mechanism in order to obtain an imposed motion at the ankle joint level. Numerical simulations of the designed lower limb exoskeleton have been developed and the obtained results demonstrate the engineering feasibility of the proposed prototype, with a characterization of satisfactory operation performance. |
| first_indexed | 2024-03-10T21:06:45Z |
| format | Article |
| id | doaj.art-4a0f2527103e40949512ad70dca3cf8e |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T21:06:45Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-4a0f2527103e40949512ad70dca3cf8e2023-11-19T17:08:10ZengMDPI AGMachines2075-17022023-09-01111092510.3390/machines11100925A Novel Exoskeleton Design and Numerical Characterization for Human Gait AssistanceCristian Copilusi0Marco Ceccarelli1Sorin Dumitru2Ionut Geonea3Alexandru Margine4Dorin Popescu5Applied Mechanics and Civil Engineering Department, Faculty of Mechanics, University of Craiova, 200512 Craiova, RomaniaApplied Mechanics Department, University of Rome Tor Vergata, 00133 Rome, ItalyApplied Mechanics and Civil Engineering Department, Faculty of Mechanics, University of Craiova, 200512 Craiova, RomaniaApplied Mechanics and Civil Engineering Department, Faculty of Mechanics, University of Craiova, 200512 Craiova, RomaniaApplied Mechanics and Civil Engineering Department, Faculty of Mechanics, University of Craiova, 200512 Craiova, RomaniaAutomation, Electronics and Mechatronics Department, Faculty of Automation, Computers and Electronics, University of Craiova, 200440 Craiova, RomaniaThis 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 exoskeleton had on its own structure a combination of three mechanism types, namely a Chebyshev mechanism, a pantograph, and a Stephenson six-bar mechanism. The design core focused on inserting the Stephenson six-bar bar mechanism in order to obtain an imposed motion at the ankle joint level. Numerical simulations of the designed lower limb exoskeleton have been developed and the obtained results demonstrate the engineering feasibility of the proposed prototype, with a characterization of satisfactory operation performance.https://www.mdpi.com/2075-1702/11/10/925exoskeletonswalking assistancemechanism designsimulationsix-bar mechanismkinematics |
| spellingShingle | Cristian Copilusi Marco Ceccarelli Sorin Dumitru Ionut Geonea Alexandru Margine Dorin Popescu A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance Machines exoskeletons walking assistance mechanism design simulation six-bar mechanism kinematics |
| title | A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance |
| title_full | A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance |
| title_fullStr | A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance |
| title_full_unstemmed | A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance |
| title_short | A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance |
| title_sort | novel exoskeleton design and numerical characterization for human gait assistance |
| topic | exoskeletons walking assistance mechanism design simulation six-bar mechanism kinematics |
| url | https://www.mdpi.com/2075-1702/11/10/925 |
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