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

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    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
    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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