{"title":"Simulating a wearable lower-body exoskeleton device for torque and power estimation","authors":"Z. Aftab, Asad Ali","doi":"10.1109/HUMANOIDS.2017.8246906","DOIUrl":null,"url":null,"abstract":"The article presents design and preliminary simulation results for a lower-body exoskeleton system. The device has 5DoF per leg and a common hip rotation degree between both legs. The mathematical model of the combined human-exoskeleton system is developed using the Robotics Toolbox in Matlab. Simulations are carried out to observe joint torque and power profiles for straight-line on-ground walking in the sagittal plane. The results indicate the validity of developed model and show promise for the design of links and actuation systems in future.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"119 4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2017.8246906","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
The article presents design and preliminary simulation results for a lower-body exoskeleton system. The device has 5DoF per leg and a common hip rotation degree between both legs. The mathematical model of the combined human-exoskeleton system is developed using the Robotics Toolbox in Matlab. Simulations are carried out to observe joint torque and power profiles for straight-line on-ground walking in the sagittal plane. The results indicate the validity of developed model and show promise for the design of links and actuation systems in future.
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