Analysis of the Internal Load the Ankle Joint Module as the Basic Structural Assembly of the Lower Limb Rehabilitation Exoskeleton

摘要: The publication presents a global outline of the construction lower limb rehabilitation exoskeleton. main focus was put on structure exoskeleton’s ankle assembly cooperating with patient’s joint. Based geometrical properties three-dimensional model developed using Finite Element Method (FEM) for determining stresses and displacements components subjected to variable loads. In FEM model, finite elements 3D-solid type beam were used. To determine external loads an experiment performed dynamometric platform by means which ground reaction forces, excited patient wearing exoskeleton, measured. During testing analysis, particular attention focused orthotropic ABS material manufactured 3D printing technology. work contains partial data obtained from strength tests samples printer. results measured parameters that describe mentioned orthotropy are implemented defining suitable in tested assembly. As result numerical calculations performed, stress fields individual obtained. distribution depends relative position foot ground, generated driving modules inertial forces. these values their amplitude variation determined enabled selecting parts met requirements strength, durability safety use