Design and Motion Analysis of an Exoskeleton Robot for Assisting Human Locomotion

Geonea, Ionuț; Dumitru, Nicolae; Tarniţă, Daniela; Copiluși, Cristian; Roșca, Adrian Sorin

doi:10.1007/978-3-030-58104-6_6

Cited by 4 publications

(3 citation statements)

References 11 publications

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“…Some researchers have worked on the optimal design of exoskeletons using AnyBody software [26][27][28][29][30][31][32][33][34][35][36][37]. Geonea presents a design solution for a new exoskeleton robot leg mechanism.…”

Section: Introductionmentioning

confidence: 99%

“…The inverse dynamics simulation and muscle force analysis of the overall model were carried out to obtain the force and muscle activity of the hip muscle groups when using the hip rehabilitation device. The experimental results were used to provide data support for the optimization of the hip rehabilitation device [26]. Xiang investigated the effectiveness of lower limb exoskeletons in rehabilitation training [28].…”

Section: Introductionmentioning

confidence: 99%

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Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Chen

Zhang

et al. 2023

Applied Sciences

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Lower limb-powered exoskeletons can help rehabilitate patients with lower limb disabilities. However, the changes in the biomechanical load on the human body when exoskeletons are used are still poorly understood. The goal of this study was to investigate the changes in kinematic and biomechanical parameters of the lower extremity exoskeleton when worn by normal subjects and patients with unilateral motor impairment using a virtual prototype. The effect of wearing the exoskeleton on gait was derived, and the basis for exoskeleton optimization was given. Virtual prototyping is a cost-effective method to validate the performance of exoskeleton robots. Therefore, two models, a human-exoskeleton model and an asymmetric movement disorder (SSP) subject-exoskeleton model, were developed in AnyBody software for this study. The human-exoskeleton model was driven by the kinematic data of 20 healthy participants walking in an exoskeleton at normal speed (3.6 km/h). As a comparison, the SSP subject-exoskeleton model was driven by data from five SSP subjects walking in an exoskeleton. The experimental results show that after wearing the lower limb exoskeleton, the walking gait satisfies the normal human gait characteristics, but some of the muscle forces suddenly increase. The maximum activation level does not exceed 1, which means that the exoskeleton does not cause muscle damage or fatigue in a short period of time. In both models, the vertical ground reaction force (GRF) Z correlation was the strongest (R > 0.90). The center of pressure (COP) X trajectory correlation was the weakest (R < 0.35). These findings will support the study of the effects of exoskeletal optimization. Also, some gait characteristics of exoskeletons worn by patients with unilateral dyskinesia can be initially explored.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Chen

Zhang

et al. 2023

Applied Sciences

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“…With the acceleration of global aging, the number of patients with lower limb dyskinesia caused by disease and functional degradation has been increasing. Clinical medical research shows that the movement function of patients' limbs can be recovered and the movement ability of patients' limbs can be improved by scientific highintensity and repetitive training [1]- [2]. At present, the global medical resources are seriously inadequate, causing many patients to unable to receive rehabilitation treatment and finally lose their movement function.…”

Section: Introductionmentioning

confidence: 99%

Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot

Wang

et al. 2021

IEEE Access

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The passive training with fixed trajectory is more suitable for the initial rehabilitation training of patients with no muscle strength in the affected limb. In order to meet the needs of patients' rehabilitation training in different rehabilitation stages and improve the active participation and rehabilitation training effect of patients, a fuzzy sliding mode variable admittance (FSMVA) controller based on safety evaluation and supervision is proposed for the cable-driven lower limb rehabilitation robot (CDLR) in this paper. The FSMVA controller consists of an inner loop fuzzy sliding mode controller, an outer loop variable admittance controller, and a safety evaluation and supervision module. Through the safety evaluation index of the CDLR system and the comprehensive evaluation of patients' rehabilitation effect given by rehabilitation physiotherapists, a real-time adjustment algorithm of variable admittance controller parameters is designed, which can realize the real-time switching of training modes and adjustment of variable admittance controller parameters in active training mode and passive training mode. The trajectory tracking experiments with no admittance, fixed admittance, and variable admittance based on safety evaluation and supervision were carried out on the experimental platform. The experimental results show that the proposed FSMVA control strategy has high position control accuracy in the active training mode. In addition, the training intensity and the active participation of patients can be increased according to the patient's exercise ability. In the passive training mode, according to the training needs of patients, the amount of the trajectory adjustment can be increased to improve the comfort of the training process and the safety of patients. It lays a foundation for the further study of the evaluation system of the rehabilitation training process and the experiment of human-machine interaction compliance.

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Kinematic and Dynamic Analysis of an Exoskeleton Robotic System

Geonea

Tarniţă

Grigorie

2023

Mechanisms and Machine Science

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Design and Motion Analysis of an Exoskeleton Robot for Assisting Human Locomotion

Cited by 4 publications

References 11 publications

Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot

Kinematic and Dynamic Analysis of an Exoskeleton Robotic System

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