Synthesis of a six-bar mechanism for generating knee and ankle motion trajectories using deep generative neural network

A Novel Exoskeleton Design and Numerical Characterization for Human Gait Assistance

“…According to the kinematic scheme in Figure 10, the second mechanism linkage which actuates the ankle joint is shown separately, in Figure 12. A similar research was developed in [19]. From Figure 12, it can be seen that B1 was located at the level of the local coordinate system origin, B3 and B5 were revolute joints under the base frame.…”

“…According to the kinematic scheme in Figure 10, the second mechanism linkage which actuates the ankle joint is shown separately, in Figure 12. A similar research was developed in [19].…”

“…The aim was to adapt a Stephenson III six-bar mechanism for ankle joint actuation extension. The reason for adapting this mechanism is given by the fact that this mechanism is an optimum solution that can assure lower limb trajectories required for gait rehabilitation purposes, as pointed out in [19]. The mentioned mechanisms are represented in Figure 7.…”

“…The contribution herein is in the form of implementing a six-bar mechanism, namely the Stephenson II type mechanism, that can replace the cam mechanism from the previous solution [18] and can accomplish the desired foot trajectory during human walking activity with respect to human motion laws developed for hip, knee, and ankle joints. The Stephenson II mechanism was also applied for designing exoskeletons in [19,20] with fully actuated joints by combining this mechanism type.…”

Computer aided design of a single degree-of-freedom six-bar mechanism via Monte Carlo layered optimization method

“…Therefore, many intelligent algorithms are applied in the design of mechanisms [ [17] , [18] , [19] ]. For example, Kapsalyamov et al [ 20 ] proposed Deep Generative Neural Networks (DGNN) to obtain a set of optimal dimensions and parameters for the Stephenson-III 6-bar linkage-based gait exoskeleton. The proposed methodology demonstrates high efficacy in determining the linkage parameters for various target trajectories.…”