Singularity analysis of a wall-mounted parallel robot with SCARA motionslower limb exoskeleton with hybrid pneumaticaly assisted electric drive for neuroreabilitation

Abstract

The paper considers a two-legged model of lower limb exoskeleton with hybrid pneumatically assisted electric drive. The main objective of the work—the study of dynamics and the motion laws of control system, realizing human stepping patterns. Exoskeleton is designed to help patients, who have lost the mobility of the lower limbs, or to work with athletes or astronauts on different stages of rehabilitation.