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 originalInglés
Título de la publicación alojada2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021
EditorialIEEE Computer Society
ISBN (versión digital)9781728170534
DOI
EstadoPublicada - 15 mar. 2021
Publicado de forma externa
Evento2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 - Virtual, Sevilla, Espana
Duración: 15 mar. 202120 mar. 2021

Serie de la publicación

NombrePan American Health Care Exchanges, PAHCE
Volumen2021-May
ISSN (versión impresa)2327-8161
ISSN (versión digital)2327-817X

Conferencia

Conferencia2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021
País/TerritorioEspana
CiudadVirtual, Sevilla
Período15/03/2120/03/21

Nota bibliográfica

Publisher Copyright:
© 2021 IEEE.

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