MECHATRONIC SYSTEM FOR LOWER LIMB REHABILITATION

The paper deals with the development of a partial exoskeleton for lower limb rehabilitation. It consists of two arms, corresponding to the thigh and calf of the patient, and two joints actuated by smart servos with series elasticity. An inverse dynamic model for gait assistance is used to prove the...

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Bibliographic Details
Published in:International Journal of Mechatronics & Applied Mechanics 2022-11, Vol.I (12), p.126-133
Main Authors: Abdullah, Amin S, Gramescu, Bogdan, Cartai, Adrian, Niţu, Constantin
Format: Article
Language:English
Subjects:
Dynamic models
Exoskeletons
Feedback
Gait
Position measurement
Rehabilitation
Sensors
Thigh
Velocity
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Summary:The paper deals with the development of a partial exoskeleton for lower limb rehabilitation. It consists of two arms, corresponding to the thigh and calf of the patient, and two joints actuated by smart servos with series elasticity. An inverse dynamic model for gait assistance is used to prove the servos capability to provide the model required torques and a trajectory for the knee rehabilitation exercise and the device control are modeled in 20sim environment, while output position of the body segments is measured by tilt sensors and displayed.
ISSN:2559-4397
2559-6497
DOI:10.17683/ijomam/issue12.19