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

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

3 Citas (Scopus)

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
Título de la publicación alojada	2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021
Editorial	IEEE Computer Society
ISBN (versión digital)	9781728170534
DOI	https://doi.org/10.1109/GMEPE/PAHCE50215.2021.9434854
Estado	Publicada - 15 mar. 2021
Evento	2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 - Virtual, Sevilla, Espana Duración: 15 mar. 2021 → 20 mar. 2021

Serie de la publicación

Nombre	Pan American Health Care Exchanges, PAHCE
Volumen	2021-May
ISSN (versión impresa)	2327-8161
ISSN (versión digital)	2327-817X

Conferencia

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

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Publisher Copyright:
© 2021 IEEE.

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10.1109/GMEPE/PAHCE50215.2021.9434854

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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. En 2021 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2021 Artículo 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 $1.4 x 10 ^{-3}\mathrm{m}$ in the path tracking, for all joints. Therefore, the CTC simulated and the modeling of this exoskeleton can be used in gait rehabilitation tasks.",

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. En 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, Espana, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

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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M3 - Ponencia publicada en las memorias del evento con ISBN

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T3 - Pan American Health Care Exchanges, PAHCE

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

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Jaimes WJ, Mantilla JF, Salinas SA, Navarro HJ. Modeling and Simulation of a Lower Limb Exoskeleton with Computed Torque Control for Gait Rehabilitation. En 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

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