KINEMATIC MODEL OF MECHANICAL DESIGN FOR SUPPORT HUMAN LOWER LIMB

Abstract eng:
The paper presents the structure of a mechanical device for the support of a human lower limb or for rehabilitation in the sagittal plane. The device has a parallel - serial mechanical structure. Three linear actuators with indirect displacements were used as executive devices. Inverse kinematics model was built for the mechanical design. The input signals for the model are angular displacements in the joints of the human lower limb. The outputs of the model are the displacements of the rods pistons actuators. The article presents the results of measurements of angular displacements using of the laboratory station for the determination of angular displacement in the joints of the lower limb. The paper also presents the displacement of the actuators in a function of angular displacements.

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