TY - CHAP
T1 - Simulation Platform for Dynamic Modeling of Lower Limb Rehabilitation Exoskeletons
T2 - Exo-H3 Case Study
AU - González-Mejía, Sergey
AU - Ramírez-Scarpetta, José M.
AU - Moreno, Juan C.
AU - Pons, José L.
N1 - Funding Information:
Acknowledgements This work was sponsored by the Administrative Department of Science, Technology and Innovation (Colciencias) under grant agreement No. 647-2014 at the Universidad del Valle, Colombia; and it was supported through computational and processing resources provided by Neural Rehabilitation Group and Technaid S.L. at the Cajal Institute, CSIC, Spain.
Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - A flexible simulation platform for human gait with exoskeletons is presented to support the analysis of the human-robot interaction and performance assessment of control strategies design, e.g., assist-as-needed. The platform includes the dynamic modeling of the lower limb’s exoskeleton-human with six degrees of freedom in sagittal plane, actuated by servomotors, where the movement equations are explicitly obtained through the Euler-Lagrange approach. The full model is hybrid and it contains four sub-models that are switched between themselves according to the gait cycle phases; also, it comprises the joint actuators dynamics and the low level control system, this modeling was assembled in Simulink-Matlab. It is shown that the proposed platform is a useful tool for assistance control strategies in the gait rehabilitation. Furthermore, simulation results for the Exo-H3 exoskeleton show the successful tracking of angular trajectories, the level of human participation, and the realistic torques.
AB - A flexible simulation platform for human gait with exoskeletons is presented to support the analysis of the human-robot interaction and performance assessment of control strategies design, e.g., assist-as-needed. The platform includes the dynamic modeling of the lower limb’s exoskeleton-human with six degrees of freedom in sagittal plane, actuated by servomotors, where the movement equations are explicitly obtained through the Euler-Lagrange approach. The full model is hybrid and it contains four sub-models that are switched between themselves according to the gait cycle phases; also, it comprises the joint actuators dynamics and the low level control system, this modeling was assembled in Simulink-Matlab. It is shown that the proposed platform is a useful tool for assistance control strategies in the gait rehabilitation. Furthermore, simulation results for the Exo-H3 exoskeleton show the successful tracking of angular trajectories, the level of human participation, and the realistic torques.
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U2 - 10.1007/978-3-030-69547-7_68
DO - 10.1007/978-3-030-69547-7_68
M3 - Chapter
AN - SCOPUS:85109505705
T3 - Biosystems and Biorobotics
SP - 425
EP - 428
BT - Biosystems and Biorobotics
PB - Springer Science and Business Media Deutschland GmbH
ER -