Design and Simulation of an Underactuated Exoskeleton Mechanism for a User-Oriented Leg Exercising

Abstract

This paper discusses the requirements for designing a leg exoskeleton, which is intended for human rehabilitation purposes. The proposed exoskeleton is based on an underactuated mechanism to achieve a leg walking motion with desired human-like behavior. A design solution with appropriate parameters is presented. Its main peculiarities and the operation performances are preliminarily characterized via a dynamic simulation.