Motion assistance with an exoskeleton for stair climb

摘要

In this paper the researches developed by the authors in the direction of motion assistance and rehabilitation for people with motion weakness are presented. Using wearable goniometers, experiments concerning stair climbing gait parameters determination are conducted. A robotic exoskeleton device is proposed to assist people with muscle weakness in the case of stair climbing activity. A virtual model of the exoskeleton and of human mannequin is developed in SolidWorks design environment. Using ADAMS software, a dynamic simulation for the assembly of virtual mannequin and motion assistance exoskeleton, in case of stair climbing is performed. Kinematic and dynamic parameters of the exoskeleton motion are presented and discussed. Virtual simulation results demonstrate the technical feasibility of the proposed solution, in case of stair climbing motion assistance for people with lower limb muscle weakness.