# 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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

## Resumen

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.

Idioma original Inglés 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 IEEE Computer Society 9781728170534 https://doi.org/10.1109/GMEPE/PAHCE50215.2021.9434854 Publicada - 15 mar. 2021 Sí 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 - Virtual, Sevilla, EspanaDuración: 15 mar. 2021 → 20 mar. 2021

### Serie de la publicación

Nombre Pan American Health Care Exchanges, PAHCE 2021-May 2327-8161 2327-817X

### Conferencia

Conferencia 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 Espana Virtual, Sevilla 15/03/21 → 20/03/21