Grzelczyk, DariuszJarzyna, OlgaAwrejcewicz, Jan2021-12-032021-12-032021Grzelczyk 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 978-83-66741-20-1.978-83-66741-20-1http://hdl.handle.net/11652/4129In 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.enAll rights reservedFair use conditionhuman lower limbsexoskeletonhuman movementludzkie kończyny dolneegzoszkieletruch człowiekaAbstractLUT LicenseLicencja PŁLodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.