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From the time of Aristotle onward, there have been countless books written on the topic of movement in animals and humans. However, research of human motion, especially walking mechanisms, has increased over the last fifty years. The study of human body movement and its stability during locomotion involves both neuronal and mechanical aspect. The m...
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... research was focused on the sagittal plane of the move- ment. Apkarian et al. [2] proposed a three-di- mensional kinematic and dynamic model of the lower limbs, which took into account the movement of the segments and joints in all three planes of the human body (see Figure 3). In 2001, Sardian and Bessoned analyzed the stability of human walking wearing robot feet as shoes [3]. ...
Citations
... The obtained result will be useful for accomplishing comparative analyses between the numerical computation of the designed exoskeleton and also to validate the proposed prototype. These results were validated by considering data from the specialty literature [23][24][25][26][27] and at some points during this research, especially in the case of virtual simulations, these were converted in radians as measuring units. [23][24][25][26][27] and at some points during this research, especially in the case of virtual simulations, these were converted in radians as measuring units. ...
... These results were validated by considering data from the specialty literature [23][24][25][26][27] and at some points during this research, especially in the case of virtual simulations, these were converted in radians as measuring units. [23][24][25][26][27] and at some points during this research, especially in the case of virtual simulations, these were converted in radians as measuring units. Appl. ...
... Sci. 2022, 12, x FOR PEER REVIEW 5 of 30 [23][24][25][26][27] and at some points during this research, especially in the case of virtual simulations, these were converted in radians as measuring units. Appl. ...
This paper addresses a design for an exoskeleton used for human locomotion purposes in cases of people with neuromotor disorders. The reason for starting this research was given by the development of some intelligent systems for walking recovery involved in a new therapy called stationary walking therapy. This therapy type will be used in this research case, through a robotic system specially designed for functional walking recovery. Thus, the designed robotic system structure will have a patient lifting/positioning mechanism, a special exoskeleton equipped with sensors and actuators, a treadmill for walking, and a command and control unit. The exoskeleton’s lower limbs will have six orthotic devices. Thus, the exoskeleton’s lower limbs’ motions and orthoses angle variations will be generated by healthy human subjects on the treadmill with the possibility of memorizing these specific motions for obtaining one complete gait cycle. After this, the memorized motions will be performed to a patient with neuromotor disorders for walking recovery programs. The design core is focused on two planar-parallel mechanisms implemented at the knee and ankle joints of each leg’s exoskeleton. Thus, numerical simulations for the design process were carried out to validate the engineering feasibility of the proposed leg exoskeleton.
Through this research it was designed a robotic system used for persons with neuromotor locomotion problems, especially the ones that have suffered AVC, and needs special recovery therapy for society integration and to perform daily living activities. The robotic system has in its own structure a patient lifting system, an exoskeleton equipped with proper sensors and actuators, a treadmill and a command & control unit. The exoskeleton legs were designed with special mechanisms which have adapted orthotic systems for hips, knees and ankles. These mechanisms were actuated based on achieved results from an experimental human walking analyses performed by 30 healthy persons. Thus, it was performed an inverse kinematic analysis for obtaining the proper angular variations necessary to control the proper drive joints. The research core was focused on a comparative analysis of the obtained results through virtual prototyping and processing the mathematical models, which validate the desired prototype. The obtained prototype was tested on specific laboratory conditions in two main stages, namely experimental tests with and without a patient.KeywordsNeuromotor RehabilitationHuman WalkingKinematics and DynamicsHuman Lower LimbLeg Exoskeleton
