Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation

W. J. Jaimes, J. F. Mantilla, S. A. Salinas, H. J. Navarro

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    Abstract

    This paper presents the modeling and simulation of a lower limb exoskeleton, where the robot is designed with six rotational degrees of freedom that include joints of the two legs, with support at the hip. A three-dimensional structural model was built in SolidWorks and its mathematical model was carried out using the W. Khalil and E. Dombre methodology. The exoskeleton tracked human gait trajectories for each joint using a computed torque control (CTC). The results showed stability in the controller, and a maximum joint mean square error of $1.4 x 10 ^{-3}\mathrm{m}$ in the path tracking, for all joints. Therefore, the CTC simulated and the modeling of this exoskeleton can be used in gait rehabilitation tasks.

    Original languageEnglish
    Title of host publication2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021
    PublisherIEEE Computer Society
    ISBN (Electronic)9781728170534
    DOIs
    StatePublished - 15 Mar 2021
    Event2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 - Virtual, Sevilla, Spain
    Duration: 15 Mar 202120 Mar 2021

    Publication series

    NamePan American Health Care Exchanges, PAHCE
    Volume2021-May
    ISSN (Print)2327-8161
    ISSN (Electronic)2327-817X

    Conference

    Conference2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021
    Country/TerritorySpain
    CityVirtual, Sevilla
    Period15/03/2120/03/21

    Bibliographical note

    Publisher Copyright:
    © 2021 IEEE.

    Keywords

    • Computed Torque Control
    • Exoskeleton
    • Human Gait.

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