Abstract—This paper presents a study concerning the structural and mechanical design in Solid Works completed with a kinematic numerical description for a new leg exo- skeleton proposed for human motion assistance and rehabilitation. The exoskeleton proposed new design is based on a seven links mechanism, designed to fulfil human locomotion tasks. A kinematic model of the proposed mechanism is presented and obtained results with a computational algorithm developed in ADAMS, are presented with plots. A 3D model is designed for simulation purposes in ADAMS multi body dynamics software and future manufacturing. The obtained simulation results are useful to appreciate the exoskeleton performance for human rehabilitation purposes. Index Terms—exoskeleton, kinematics, design, simulation. I. INTRODUCTION ODAY, the subject of exoskeleton design for human motion assistance and rehabilitation is present in a large number of studies. In the domain of medical recovery, the locomotors recovery is practiced for patients who have suffered strokes or spinal cord injuries, to be able to practice walking again. The first research study presented in this area, of powered exoskeleton systems, dates from 1960, and this initiative belongs to two separate groups of researchers, one from the US and one from the former Yugoslavia. The first group of researchers is aimed at developing a new technology to help and improve the abilities of the human carrier body, often for military purposes, meanwhile the second group of researchers attempted to produce a technology for motion assistance of people with locomotion disabilities. Currently, are published a large number of papers and research articles for study the human motion assistance and rehabilitation. For disabled people’s motion assistance, exoskeleton systems, active foot orthosis are developed by representative research centers, in order to assist the rehabilitation therapy. Relevant existing systems are discussed in review articles, [1, 2, 3, 4, 5], published by Chen, (2016), Anama et. al (2012), Diaz (2011), Yan (2015). The collective of the authors of present research study presented several design solutions and developed products in papers published by: Dumitru (2015), Geonea (2015-2018), [6-11]. The main purpose of these Manuscript received March 02, 2019; revised March 09, 2019. I. Geonea is with Faculty of Mechanics, University of Craiova. Calea Bucuresti Street no. 113. Romania (e-mail: igeonea@yahoo.com ). P. Rinderu is with Faculty of Mechanics, University of Craiova. Calea Bucuresti Street no. 113. Romania (e-mail: rinderu_paul@yahoo.fr ). achievements is to develop a single degree of freedom human like leg mechanism. In addition, an important task of these systems is represented by the low cost and easy operation feature and facile implementation in practice. In this paper a new exoskeleton leg solution is proposed. The novel exoskeleton is designed based on low cost and easy operation implementation in practical activities. The design solution is studied based on the results of numerical simulation from ADAMS dynamic simulation software. II. HUMAN GAIT EXPERIMENTAL STUDY For human motion biomechanics, exists on the market, a large number of equipment’s and software to study human gait motion parameters. In this study, the equipment consists in six goniometers sensors attached to human leg joints. A healthy male of 1.68 m height, 68 kg, age 35, represents the subject of this study, by using goniometers sensors on each joint. Fig. 1. Right ankle joint angle variation in time. Fig. 2. Left ankle joint angle variation in time. Design and Kinematics of a New Leg Exoskeleton for Human Motion Assistance Ionut Geonea and Paul Rinderu, Member, IAENG T Proceedings of the World Congress on Engineering 2019 WCE 2019, July 3-5, 2019, London, U.K. ISBN: 978-988-14048-6-2 ISSN: 2078-0958 (Print); ISSN: 2078-0966 (Online) WCE 2019