Multifunctional Medical Recovery and Monitoring System for the Human Lower Limbs

In order to develop multifunctional medical recovery and monitoring equipment for the human lower limb, a new original mechanical structure with three degrees mobility has been created for the leg sagittal model. This mechanism is integrated in the equipment and includes elements that have similar functions to the different anatomic parts (femur, median part), leg, and foot. The independent relative rotation motion between the previously mentioned anatomic parts is ensured. The femur may have an oscillation rotation of about 100° relative to the trunk. The median part (leg) alternatively rotates 150° relative to the superior segment. The lower part (foot) is initially placed at 90° relative to the median part and may have an alternative rotation of 25°. Depending on a patient’s medical needs and their recovery progress, device sensors provide varying angular amplitude of different segments of the human limb. Moreover, the mechanism may actuate either anatomic leg segment, two parts, or all of them

Kinetostatic analysis of a scissor jack mechanism powered by a tetrad RRR-Ta-RRR

In a paper previously published by the authors, kinematic analysis of a jack mechanism driven by a motor tetrad was done. For the actual design of the mechanism, the forces and moments acting on the kinematic elements that are part of it must be determined. Also, the driving force in the hydraulic cylinder must be determined, so that the mechanism works in good conditions, for a certain technological task imposed by the design theme. The present paper makes the kinetostatic analysis of the mechanism studied, from the kinematic point of view. Therefore, the reactions in the kinematic couplings of the mechanism, as well as the driving force of the hydraulic cylinder, are determined. In order to determine the reactions of the kinematic couplings, as well as the driving force of the hydraulic cylinder, the masses of the elements, the moments of mechanical inertia, as well as the load force acting on the jack were considered. The results of the calculations were graphically represented, in reaction patterns. In order to verify the correctness of the calculations, the balance force (the hydraulic cylinder motor force) was determined by both the kinetic and the virtual power method, and the results are the same