Abstract
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.
Original language | English (US) |
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Title of host publication | Biosystems and Biorobotics |
Publisher | Springer Science and Business Media Deutschland GmbH |
Pages | 425-428 |
Number of pages | 4 |
DOIs | |
State | Published - 2022 |
Publication series
Name | Biosystems and Biorobotics |
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Volume | 27 |
ISSN (Print) | 2195-3562 |
ISSN (Electronic) | 2195-3570 |
Funding
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.
ASJC Scopus subject areas
- Biomedical Engineering
- Mechanical Engineering
- Artificial Intelligence