MATEC Web Conf.
Volume 157, 2018Machine Modelling and Simulations 2017 (MMS 2017)
|Number of page(s)||10|
|Section||Machine dynamics and multibody systems simulations|
|Published online||14 March 2018|
Universal compact lower limb turning module intended for use in orthotic robots
Faculty of Mechatronics, Warsaw University of Technology, Boboli 8, 02-525, Warsaw, Poland
* Corresponding author: email@example.com
In this paper, a model of an orthotic robot’s lower limb rotation system is presented. The system is intended for use in typical contemporary orthotic robots such as the ‘Veni-Prometheus’ System for Verticalization and Aiding Motion designed at the Faculty of Mechatronics, Warsaw University of Technology. In the paper, the state of the art is briefly stated, with the relatively low number of orthotic robots allowing realization of pivoting turns highlighted. The intended two-stage pivoting turning movement is analyzed in detail and the operating conditions as well as limitations of the turning module are indicated. The conception of a turning module introduces additional degree of freedom to the existing orthotic robot designs by realizing the rotation about the lengthwise axis in the thigh link. A three-dimensional model and its analysis are shown. The proposed design ensures the necessary movement of the lower limb and the torso of an impaired person during the execution of pivoting turn while remaining compact in order to ease the introduction of the turning system to different orthotic robot designs.
Key words: lower limb turning module / orthotic robot / exoskeleton / change of the gait direction / spinal cord injury / rehabilitation
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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