Abstract
The main problem of designing a lower limb exoskeleton for healthy people is allowing unconstrained movement along with providing sufficient load carrying capability. It is not a simple task since most of the human body joints have more than one degree of freedom. A designed mechanical equivalent should imitate these movements being outside the human body. Due to this, the mechanical joints must provide shortening or elongation of the structure during load carrying. Authors present biomechanical analyzes of a knee joint and propose a design of a mechanical equivalent of this joint that can be applied in exoskeletons. Additionally, laboratory trials proved suitability of this solution.
Highlights
The exoskeletons that will strengthen a human body were carried out since the 60’s of the XX century beginning in the automotive industry
Future works showed a great potential in the ankle joint which is the first/last one that transfers load from/to the ground
Due to this it gives a chance to improve the energetic efficiency of the system and its impact on the human body
Summary
The exoskeletons that will strengthen a human body were carried out since the 60’s of the XX century beginning in the automotive industry. This idea was evaluated and robots that copied human body movements were developed. An ergonomic device is the one that assures unloading of the musculoskeletal system, secures the natural range of motions, prevents from injuries, strengthens a human body. Future works showed a great potential in the ankle joint which is the first/last one that transfers load from/to the ground Due to this it gives a chance to improve the energetic efficiency of the system and its impact on the human body. The challenge is that the human ankle joint is very complicated in its structure [4]
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