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

摘要

In this paper, we present a new exoskeleton robot model designed to assist human locomotion. In the first part of the paper are presented results concerning human gait motion analysis. The human gait experimental analysis is performed with goniometers sensors. In the second part of the paper are presented some structural solutions for exoskeleton robots, presented by first author in other published papers. Based on these achievements, new exoskeleton robot designs are proposed. The kinematic structure of the new robot is presented. The designed robot assures motion assistance for all the leg joints, and it is actuated with one drive. Based on this kinematic structure, the robot is modeled in the CAD design environment, SolidWorks, and the motion simulation is performed in the MSC.ADAMS simulation environment. The graphs of variation of the kinematic and dynamic parameters of the robot are presented. The exoskeleton motion results are compared with those from the human normal gait.