Numerical Simulations for Designing a Human Lower Limb Rehabilitation Robotic System

This research addresses a virtual simulation analysis of the human lower limb-specific movements which will be further used in designing a lower limb rehabilitation robotic system. Thus the specific activities will be analyzed virtually with Adams software for identifying the lower and upper limits and the connection forces for the hip, knee, and ankle joints. The proposed model is a parametrized one, and the specific activities are human walking, human lower limb flexion-extension on a horizontal plane, and human lower limb skateboard motion in a vertical plane. The obtained results, especially the connection forces, will help to choose the proper actuators for the proposed robotic system.