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

doi:10.1007/978-3-030-69547-7_68

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

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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 language	English (US)
Title of host publication	Biosystems and Biorobotics
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	425-428
Number of pages	4
DOIs	https://doi.org/10.1007/978-3-030-69547-7_68
State	Published - 2022

Publication series

Name	Biosystems and Biorobotics
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

Access to Document

10.1007/978-3-030-69547-7_68

Cite this

González-Mejía, S., Ramírez-Scarpetta, J. M., Moreno, J. C., & Pons, J. L. (2022). Simulation Platform for Dynamic Modeling of Lower Limb Rehabilitation Exoskeletons: Exo-H3 Case Study. In Biosystems and Biorobotics (pp. 425-428). (Biosystems and Biorobotics; Vol. 27). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-69547-7_68

@inbook{c45b1aacb2ca4410a20642158b4df711,

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

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{\textquoteright}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.",

author = "Sergey Gonz{\'a}lez-Mej{\'i}a and Ram{\'i}rez-Scarpetta, \{Jos{\'e} M.\} and Moreno, \{Juan C.\} and Pons, \{Jos{\'e} L.\}",

note = "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: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.",

year = "2022",

doi = "10.1007/978-3-030-69547-7\_68",

language = "English (US)",

series = "Biosystems and Biorobotics",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "425--428",

booktitle = "Biosystems and Biorobotics",

address = "Germany",

}

Simulation Platform for Dynamic Modeling of Lower Limb Rehabilitation Exoskeletons: Exo-H3 Case Study. / González-Mejía, Sergey; Ramírez-Scarpetta, José M.; Moreno, Juan C. et al.
Biosystems and Biorobotics. Springer Science and Business Media Deutschland GmbH, 2022. p. 425-428 (Biosystems and Biorobotics; Vol. 27).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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.

UR - http://www.scopus.com/inward/record.url?scp=85109505705&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85109505705&partnerID=8YFLogxK

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 -

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

Abstract

Publication series

Funding

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this