Scholarlink

This paper investigates four kinematic solutions for the lower limb of a rehabilitation exoskeleton, including parallelogram linkage-based and pantograph-type mechanisms. Each configuration was modeled in SolidWorks and simulated in MSC. Adams to analyze joint motion during walking. Angular displacement data for the hip and knee joints were extracted and compared. The results show that the dual-leg pantograph mechanism ensures the most accurate and physiologically relevant trajectories with minimal actuation. This solution is considered optimal for integration into an active rehabilitation exoskeleton due to its simplicity, symmetry, and kinematic fidelity.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Kinematic Design and Simulation-Based Evaluation of Lower Limb Mechanisms for a Rehabilitation Exoskeleton

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Ionut Geonea,
  • Nicolae Dumitru,
  • Andrei Corzanu,
  • Daniela Tarnita

摘要

This paper investigates four kinematic solutions for the lower limb of a rehabilitation exoskeleton, including parallelogram linkage-based and pantograph-type mechanisms. Each configuration was modeled in SolidWorks and simulated in MSC. Adams to analyze joint motion during walking. Angular displacement data for the hip and knee joints were extracted and compared. The results show that the dual-leg pantograph mechanism ensures the most accurate and physiologically relevant trajectories with minimal actuation. This solution is considered optimal for integration into an active rehabilitation exoskeleton due to its simplicity, symmetry, and kinematic fidelity.