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

被引：1

作者：

Jaimes, W. J. ^{[1
]}

Mantilla, J. F. ^{[1
]}

Salinas, S. A. ^{[1
]}

Navarro, H. J. ^{[1
,2
]}

机构：

[1] Univ Pontifica Bolivariana, Fac Ingn Elect & Elect, Bucaramanga, Colombia

[2] Fac Ciencias Nat & Ingn, Unidades Tecnol Santander, Bucaramanga, Colombia

来源：

2021 GLOBAL MEDICAL ENGINEERING PHYSICS EXCHANGES/PAN AMERICAN HEALTH CARE EXCHANGES (GMEPE/PAHCE) | 2021年

关键词：

Computed formic Control; Exoskeleton; Human Gait; ROBOT;

D O I：

10.1109/GMEPE/PAHCE50215.2021.9434854

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

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 1.4x10(-3) 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.

引用

页数：6

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