Kinematic Analysis of an Exoskeleton Robot for Assisting Human Knee Motion

Due to the harmful changes in human lifestyle, different diseases like stroke and problems in musculoskeletal system are increasing noticeably. Wearable robots not only help these patients to rehabilitate their disabled organ and walk, but also have a significant mental effect on them. For the first time, the kinematic analysis of an exoskeletal orthosis designed for patients who have pain in one of their knees is presented using vector loop method. The proposed design for this exoskeleton has two linear actuators for resembling behavior of Quadriceps and Hamstring muscles, two of the most important muscles participating in human gait. The motion of the knee mechanism is simulated for a complete gait cycle. Obtaining velocities and accelerations of joints and links in this study will be useful in dynamic analysis of the mechanism

Keywords:

Exoskeleton Robot , Knee , Rehabilitation , Gait , Vector loop method