Dynamic Analysis and Structural Optimization of a New Exoskeleton Prototype for Lower Limb Rehabilitation

Abstract

This paper presents a new exoskeleton robot solution for assisting human walking. As a novel feature of the present research work, a new solution for the design of a mechanism for the legs of an exoskeleton robot is proposed. A virtual prototype is made, based on which the proposed exoskeleton robot solution is analysed kinematically and dynamically. Following this analysis, it is found that the proposed solution achieves motion laws in the hip and knee joints similar to those obtained in normal human walking. The kinematic elements of the exoskeleton are conceived with a design that ensures manufacturability by rapid prototyping technique, easy assembly as well as structural strength. For this purpose, a structural optimization study will be carried out with the finite element method to obtain the best design solution.