Cristian Copilusi

Design and numerical characterization of a new leg exoskeleton for motion assistance

This paper addresses attention to a design for a low-cost exoskeleton with fairly simple construction, lightweight, easy to wear and to adapt to human legs. The design core is focused on a cam-mechanism implementation at the ankle joint level of the leg exoskeleton. The engineering feasibility of the proposed design is characterized by numerical simulations for the design process.

Design and Simulation of a Leg Exoskeleton Linkage for a Human Rehabilitation System

This paper addresses the design and simulation of a leg exoskeleton for a human rehabilitation system. The proposed novel leg exoskeleton is based on a linkage mechanism that has been designed in order to fulfil main human locomotion tasks with low-cost easy-operation features. A proper kinematic model of the proposed linkage mechanism has been settled up and it has been implemented into Maple environment for numerical simulations of the kinematic behavior. A proper 3D CAD model has been developed and the full leg exoskeleton has been modeled and simulated into MSC.ADAMS environment. Results of simulations demonstrate the engineering feasibility of the proposed design.

Dynamic Analysis of an Exoskeleton New Ankle Joint Mechanism

In this paper, a dynamic analysis is performed for a new ankle joint mechanism used on an exoskeleton structure. The designed exoskeleton structure will be used in human rehabilitation purposes. The aim of this research is to determine the connection forces through an inverse dynamic analysis in order to use these for numerical simulations of the proposed prototype. The obtained results validate the design techniques, which demonstrates the engineering feasibility of the proposed design.

Mechanism of a Leg Exoskeleton for Walking Rehabilitation Purposes

This paper addresses attention to the conceptual mechanism design of a leg exoskeleton for human rehabilitation purposes. Different mechanism solutions for locomotion rehabilitation are analyzed from a structural and functional viewpoints. By using mobility analysis and considerations on structure design, a new leg exoskeleton is identified with low-cost features and motion ability for rehabilitation purposes.

Kinematic and Dynamic Study of a Mechanism for a Vehicle Front and Rear Stabilizer Bars

In this paper, a method is described for theoretical and experimental studies of a front and rear stabilizer bars used on vehicle steering and suspension systems. Based on the fatigue experimental tests performed on a special test-bed, a complex actuation mechanism from the test bed structure will be analyzed. This mechanism through his kinematic and dynamic structure assures complete conditions for simulating the dynamic behavior in a complex mode of the rear stabilizer bar used on a vehicle steering and suspension structures.

Lab Experiences with LARM Clutched Arm for Assisting Disabled People

Laboratory experiences are reported for an assistive manipulation task by using a prototype of LARM clutched arm. The design and operation of LARM clutched arm are revised to achieve a fairly simple use in an application for assisting disable people in food feeding actions. Results show a suitable arm behavior and proper motion properties in lab tests with arm programing that have been performed mainly by student as user-oriented implementation.

New Assistive Device for People with Motor Disabilities

In this paper, a new mechanism for human leg motion assistance for rehabilitation purposes has been proposed. The structure of human leg and its motions have been used as inspiration for design purposes. A 3D model of the proposed system has been elaborated in Solid Works®, both for design and simulation purposes. It is developed a kinematic model of the mechanism, useful for further design optimization. There has been build an experimental model of the mechanism and they are conducted experimental researches. The result shows that the proposed mechanism performs movements similar to those of a human leg.

Modular Knee Orthosis FEM Analysis from Kinematic Considerations

In this paper a locomotion system kinematic analysis is presented in order to obtain the knee motion equations for a child walking. With these equations a modular knee orthosis with flexible elements was designed and simulated through finite elements analysis with ADAMS. The whole human locomotion system is analyzed. Based on these results a modular knee orthosis prototype for a 7 years old child with locomotion disabilities was fabricated. The prototype was evaluated through experimental tests with CONTEMPLAS motion analysis equipment.

Human Upper Limb Robotic System Experimental Analysis by Using CONTEMPLAS Motion Software

In this paper a human upper limb robotic system is analyzed through an experimental study. The experimental analysis aim is to validate this robotic system type in order to use it in some kinetotherapy programs for the human upper limb recovery. The robotic system experimental research was performed by using special equipment called CONTEMPLAS which enables to evaluate angular variations in 3D environment. The equipment used in this research has two high-speed cameras which can record and establish the angular variations developed at the robotic system joints level. This paper consists of three main parts. In the first part there is an actual study of the robotic systems specially designed for the human upper limb rehabilitation, where the robotic system proposed for this experimental research is described. The second part includes some literature aspects regarding the movements developed by the human upper limb, and in the third part the experimental research is described in detail.

Upper Limb Motions Analysis for Development of an Upper Limb Rehabilitation Robotic System

The therapists from Prokinetic Rehabilitation Clinic identified the need of a passive rehabilitation robotic system with 3 degrees of freedom for the upper limb. This paper presents the work for the design and development of this kind of rehabilitation robotic system. This project aims to use a user-centered design process to create an upper limb rehabilitation robotic system for patients and therapists from Prokinetic Rehabilitation Clinic. The end-users are and will be involved actively, continuously throughout the system design, development and testing. Upper limb motion analysis has been done using the Vicon system, for simple motions and for functional motions. The positions, velocities and accelerations of each interest joint were obtained. We used this analysis in order to implement the control algorithms for the rehabilitation procedures with an upper limb rehabilitation robotic system. We designed the mechanical, actuation and control systems for this upper limb rehabilitation robotic system.