Simulation Platform for Dynamic Modeling of Lower Limb Rehabilitation Exoskeletons: Exo-H3 Case Study

Sergey González-Mejía*, José M. Ramírez-Scarpetta, Juan C. Moreno, José L. Pons

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations

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 languageEnglish (US)
Title of host publicationBiosystems and Biorobotics
PublisherSpringer Science and Business Media Deutschland GmbH
Pages425-428
Number of pages4
DOIs
StatePublished - 2022

Publication series

NameBiosystems and Biorobotics
Volume27
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

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