Design and simulation of a lower limb exoskeleton with linear electric actuators
Ładowanie...
Data
2021
Tytuł czasopisma
ISSN czasopisma
Tytuł tomu
Wydawca
Wydawnictwo Politechniki Łódzkiej
Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.
Lodz University of Technology Press
Lodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.
Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.
Lodz University of Technology Press
Lodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.
Abstrakt
In the present study, we proposed and investigated a relatively simple and inexpensive
construction of a lower limb exoskeleton driven by linear electric actuators and controlled
by an Arduino microcontroller board. Moreover, to study crucial kinematic and dynamic
parameters of the proposed device, we developed a general, three-dimensional simulation
model of the exoskeleton in Mathematica software. To control individual joints of the investigated
exoskeleton, we employed time histories of human joint angles in normal gait, recorded
with the use of a motion capture system. As a result, we developed a novel human gait
generator, which can be used to produce rhythmic movements in hip, knee and ankle joints of
both limbs. Finally, the developed control approach was verified with the use of the constructed
prototype of the exoskeleton.
Opis
Słowa kluczowe
human lower limbs, exoskeleton, human movement, ludzkie kończyny dolne, egzoszkielet, ruch człowieka
Cytowanie
Grzelczyk D., Jarzyna O., Awrejcewicz J., Design and simulation of a lower limb exoskeleton with linear electric actuators. W: DSTA-2021 Conference Books – Abstracts (16th International Conference : Dynamical Systems Theory and Applications DSTA 2021 ABSTRACTS), Awrejcewicz J. (red.), Kaźmierczak M. (red.), Olejnik P. (red.), Mrozowski J. (red.), Wydawnictwo Politechniki Łódzkiej ; Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki, Łódź 2021, s. 461-462, ISBN 978-83-66741-20-1.