Design and Simulation of a Leg Exoskeleton Linkage for Human Motion Assistance

In this study, a new exoskeleton leg design for the human motion assistance and rehabilitation use is proposed. The structural solution of the leg mechanism is analysed and a mechanical design solution is developed in Solid Works. The 3D model is used for design optimization and simulation purposes. The study of the leg mechanism is complete with a kinematic analysis, solved with a computational algorithm in Mathlab software, in order to obtain numerical results with plots. The rehabilitation exoskeleton is based on a five links planar mechanism, and design to fulfil human main locomotion tasks. A proper dynamic model of the proposed rehabilitation exoskeleton system is build in ADAMS multi body dynamics software and used to obtain numerical results for exoskeleton motion parameters with plots. These results consist in motion parameters of the exoskeleton solution and exoskeleton gait trajectories, being very useful to appreciate the exoskeleton feasibility and usefulness for human motion assistance and rehabilitation purposes.