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This paper presents the design of an innovative robotic system for lower limb post-stroke rehabilitation of bed confined patients during the acute stage of the treatment. To establish the particularities of each targeted joint motion, experimental measurements are performed on healthy subjects. The acquired data is used to determine the operational workspace, namely the limits of the anatomic joints motion for the lower limb. Based on the prescribed operational workspace, an innovative parallel robotic architecture is designed for achieving the rehabilitation of the lower limb. A detailed kinematic modelling and analysis is carried out to demonstrate the robot capability to safely achieve the required motions. The design of the robotic rehabilitation device is discussed in detail alongside with numerical simulations for validating its performance while performing medically relevant rehabilitation motions.

In this paper, we present a new exoskeleton robot model designed to assist human locomotion. In the first part of the paper are presented results concerning human gait motion analysis. The human gait experimental analysis is performed with goniometers sensors. In the second part of the paper are presented some structural solutions for exoskeleton robots, presented by first author in other published papers. Based on these achievements, new exoskeleton robot designs are proposed. The kinematic structure of the new robot is presented. The designed robot assures motion assistance for all the leg joints, and it is actuated with one drive. Based on this kinematic structure, the robot is modeled in the CAD design environment, SolidWorks, and the motion simulation is performed in the MSC.ADAMS simulation environment. The graphs of variation of the kinematic and dynamic parameters of the robot are presented. The exoskeleton motion results are compared with those from the human normal gait.

This work addresses the design and numerical characterization of a new exoskeleton solution for human leg motion assistance and rehabilitation. The exoskeleton solution is anthropomorphic, simple, low cost and easy to adapt on the human subject. The design aspect concerns the exoskeleton mechatronic structure, achieved in SolidWorks virtual environment. Numerical simulation is performed in MSC.ADAMS simulation environment. Obtained results for the exoskeleton computed motion are compared with those obtained from experimental walking of healthy subject. The prototype feasibility is studied both for design and operation aspect.

The paper presents the results of the authors concerning the experimental human walking and numerical simulation of human rehabilitation on a treadmill. Using Biometrics data acquisition system based on electrogoniometers, experimental measurements for ankle, knee and hip joints of right and left legs during walking on plane and inclined treadmill are performed. The human legs motion assistance for rehabilitation is proposed with an attached exoskeleton. The numerical simulation of a virtual mannequin walking with the attached exoskeleton on a plane and inclined treadmill is performed, using ADAMS virtual environment. A comparison between human experimental measurements and numerical simulations of a virtual mannequin with exoskeleton is presented.

The aim of this paper is to compare the range of motion of the sit-to-stand (STS) movement angles for the both knees: osteoarthritic (OA) left knee and healthy right knee, for seven subjects who performed an experimental test consisting of STS cycles on a chair. The acquisition system consists of two electro-goniometers, one for each leg, for making possible the simultaneously reading of data during experiments. The angular amplitudes of human knee flexion-extension during the STS cycles are obtained as data files. For each knee of all subjects were selected 8 consecutive cycles which were normalized by interpolation with cubic Spline functions, using MATLAB environment. The final medium STS cycle for both knees is obtained. Finally, statistical analyses are made and the results are presented. The maximum values of the knee angle for both knees of all seven subjects were compared and tested with an unpaired Student t-test, considering α=0.05. The p-values corresponding to this test are calculated using ANOVA. Based on the average anthropometric data the virtual model of a mannequin using SolidWorks software was developed, and then was transferred to ADAMS simulation environment in order to obtain the variation laws of reaction forces in the lower limb joints.

In order to improve the quality of human walking, the present paper is analyzing a 3D virtual model for an orthotic device which is subjected to an optimization process based on dimensional, geometric and material criteria. For geometric modeling of the human knee joint were used the embedded applications: DesignModeler, SpaceClaim under AnsysWorkbench software package and for the orthotic device it was used ProEngineer application. The orthotic device is designed to rehabilitate people with knee problems, especially for the osteoarthritis affection. The geometric model of the joint shows a 50tilt invarus, the joint beeing affected by osteoarthritis in the medial compartment. Using Ansys simulation environment, the virtual assembly joint orthois has been subjected to a nonlinear analysis based on the contacts and on the materials used. The proposed orthotic device seeks to improve the quality of walking by minimizing the loads from the knee joint, also on cartilage and on the menisci. Finally there are beeing compared the results obtained for normal knee, OA knee and OA knee-orthosis assemblies.

This paper aims to present the simulation of technological process of components made by plastic injection using a computer within a orthotic device for human knee. Also, the aim of the work is to improve the final product quality and operating properties in different types of design and minimize material requirements for different anthropometric data quality in optimal conditions. The orthotic device addresses to people with walking disabilities, and aims to rehabilitate and ameliorate the pain caused by osteoarthritis disease. For the geometric modeling of components in order to obtain virtual mathematical model study we used ProEngineer application, which allows a detailed design and a high accurate technical approach. The model was imported into the Moldex3D application, being integrated within a XYZ coordinate system.To simulate the injection process we used only the component from the upper part of orthotic device. This paper presents advanced modeling elements, geometric mesh model into an advanced form of nodes and elements, plastic injection process analysis settings. It highlights the tensions, deformations and displacements in these parts during the injection process.

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.

In this paper we are presenting the results of the research based on dynamic simulation of human knee virtual model. Starting from the parts realized with computer tomography help, there were realized virtual models for the femur, tibia, meniscus and ligaments that form the complex human knee joint, and their meshing in finite elements. There are presented comparative stress diagrams for the normal walking and for the case of sectioned anterior crisscross ligament.Maps of stress are presented for the whole joint and for its components, to different movement moments. 3DP rapid prototyping technology is used to obtain the components of the human knee joint necessary for future experimental research.

The main idea of this paper is related to design modular adaptive implants for fractured bones. In order to target the efficiency of medical treatment, the implant has to protect the fractured bone, for the healing period, undertaking much as is possible from the daily usual load of the healthy bones. Using implant modularity, the load is gradually transferred to bone, assuring in this manner a gradually recover of bone function. The proposed intelligent device has a network structure, with modules made out of Nitinol, especially designed in order to ensure a rapid connection and/or extraction of one or more MAI modules. We suggest a design for the unitary SMA module structure, a design which ensures not only the stability of the super-elastic network and constant force requirements, but also a rapid coupling/decoupling procedure. The adaptability of this design is related to medical possibility of the doctor to made the implant to correspond to patient specifically anatomy.