Sintesi Cinematica e Progetto di un Meccanismo per Esoscheletro del Ginocchio

One of the most fascinating challenges of science is the realization of devices that are able to faithfully replicate human movement. Over the years, different solutions have been investigated in different fields of knowledge, such as the world of prosthetic devices, wearable robotic devices and humanoid robots. In the first case, one of the most common solutions is the use of linkages, typically four-bar and six-bar linkages, with particular reference to the knee joint. These devices make it possible to approximate the movement of the joints of the human body with good results. In robotics, in the last forty years, there have been enormous steps forward in the creation of sensors, control, sources of electrical energy and materials. This has often overshadowed the mechanical aspects, which led to joint joints that are, albeit functional, kinematically approximated. This PhD thesis explores a new methodology for kinematic synthesis of anthropomorphic mechanisms related to the human knee joint. The first phase focuses on the description of the movement and acquisition of data; the second phase focuses on the design of a prototype of a knee exoskeleton for the lower limb and on its 3D printing fabrication, with final aims being its wearability and testing.