Design and Simulation of a Leg Exoskeleton Linkage for a Human Rehabilitation System

摘要

This paper addresses the design and simulation of a leg exoskeleton for a human rehabilitation system. The proposed novel leg exoskeleton is based on a linkage mechanism that has been designed in order to fulfil main human locomotion tasks with low-cost easy-operation features. A proper kinematic model of the proposed linkage mechanism has been settled up and it has been implemented into Maple environment for numerical simulations of the kinematic behavior. A proper 3D CAD model has been developed and the full leg exoskeleton has been modeled and simulated into MSC.ADAMS environment. Results of simulations demonstrate the engineering feasibility of the proposed design.