Design, simulation and performance comparision of a robot with human-like movements in physical application lower extremity system

In this thesis study, research was conducted on the design, control, and evaluation of lower limb exoskeleton robots used in the rehabilitation of children with walking disabilities. First, a literature review of robotic systems used in physical therapy processes was carried out, analyzing the advantages, limitations, and design criteria of existing systems. The study particularly focused on key factors in the design of lower limb systems, such as ergonomics, biomechanical compatibility, range of motion, safety, and user-friendly interfaces. During the design phase, gait kinematics were examined in detail, and kinematic modeling was performed to achieve results that closely resemble natural walking movements. Based on these kinematic analyses, a torque-controlled system was developed to meet the specific needs of individuals. The control system was modeled and optimized in the MATLAB Simulink environment. To assess the accuracy and reliability of the simulation model, tests were conducted in a real experimental environment, and the data obtained from the experiments were compared with the simulation results. Differences identified in the comparison were analyzed, enabling the model to more accurately represent real-world walking movements. The integration of simulation and experimental results aimed to contribute to the development of more efficient and user-friendly robotic solutions for individuals with walking impairments.