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

doi:10.1109/GMEPE/PAHCE50215.2021.9434854

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/Conference proceeding › Conference and proceedings › peer-review

7 Scopus citations

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 language	English
Title of host publication	2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021
Publisher	IEEE Computer Society
ISBN (Electronic)	9781728170534
DOIs	https://doi.org/10.1109/GMEPE/PAHCE50215.2021.9434854
State	Published - 15 Mar 2021
Event	2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 - Virtual, Sevilla, Spain Duration: 15 Mar 2021 → 20 Mar 2021

Publication series

Name	Pan American Health Care Exchanges, PAHCE
Volume	2021-May
ISSN (Print)	2327-8161
ISSN (Electronic)	2327-817X

Conference

Conference	2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021
Country/Territory	Spain
City	Virtual, Sevilla
Period	15/03/21 → 20/03/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Computed Torque Control
Exoskeleton
Human Gait.

Types Minciencias

Scientific events with a public engagement component

Access to Document

10.1109/GMEPE/PAHCE50215.2021.9434854

Cite this

Jaimes, W. J., Mantilla, J. F., Salinas, S. A., & Navarro, H. J. (2021). Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation. In 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 Article 9434854 (Pan American Health Care Exchanges, PAHCE; Vol. 2021-May). IEEE Computer Society. https://doi.org/10.1109/GMEPE/PAHCE50215.2021.9434854

@inproceedings{b075b70efbf644f38d8e913894083d36,

title = "Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation",

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 \textasciicircum{}\{-3\}\textbackslash{}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.",

keywords = "Computed Torque Control, Exoskeleton, Human Gait.",

author = "Jaimes, \{W. J.\} and Mantilla, \{J. F.\} and Salinas, \{S. A.\} and Navarro, \{H. J.\}",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 ; Conference date: 15-03-2021 Through 20-03-2021",

year = "2021",

month = mar,

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doi = "10.1109/GMEPE/PAHCE50215.2021.9434854",

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Jaimes, WJ, Mantilla, JF, Salinas, SA & Navarro, HJ 2021, Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation. in 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021., 9434854, Pan American Health Care Exchanges, PAHCE, vol. 2021-May, IEEE Computer Society, 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021, Virtual, Sevilla, Spain, 15/03/21. https://doi.org/10.1109/GMEPE/PAHCE50215.2021.9434854

Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation. / Jaimes, W. J.; Mantilla, J. F.; Salinas, S. A. et al.
2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021. IEEE Computer Society, 2021. 9434854 (Pan American Health Care Exchanges, PAHCE; Vol. 2021-May).

Research output: Chapter in Book/Conference proceeding › Conference and proceedings › peer-review

TY - GEN

T1 - Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation

AU - Jaimes, W. J.

AU - Mantilla, J. F.

AU - Salinas, S. A.

AU - Navarro, H. J.

PY - 2021/3/15

Y1 - 2021/3/15

N2 - 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.

AB - 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.

KW - Computed Torque Control

KW - Exoskeleton

KW - Human Gait.

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U2 - 10.1109/GMEPE/PAHCE50215.2021.9434854

DO - 10.1109/GMEPE/PAHCE50215.2021.9434854

M3 - Ponencia publicada en las memorias del evento con ISBN

AN - SCOPUS:85107511127

T3 - Pan American Health Care Exchanges, PAHCE

BT - 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021

PB - IEEE Computer Society

T2 - 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021

Y2 - 15 March 2021 through 20 March 2021

ER -

Jaimes WJ, Mantilla JF, Salinas SA, Navarro HJ. Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation. In 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021. IEEE Computer Society. 2021. 9434854. (Pan American Health Care Exchanges, PAHCE). doi: 10.1109/GMEPE/PAHCE50215.2021.9434854

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

Abstract

Publication series

Conference

Bibliographical note

UN SDGs

Keywords

Types Minciencias

Access to Document

Fingerprint

Cite this