Journal
MACHINES
Volume 10, Issue 4, Pages -Publisher
MDPI
DOI: 10.3390/machines10040248
Keywords
exoskeletons; modular modelling methodology; dynamic modelling
Funding
- Brazilian National Council of Scientific Development-CNPq [442216/2016-5]
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This article presents the conceptual design and model calculation of an exoskeleton using modular modeling methodology, and demonstrates the consistency of the model and the estimation of actuator torques through simulations.
Among the variety of applications of exoskeletons, it is possible to mention motor rehabilitation, enhancement of human capabilities and providing support to different types of tasks. Despite the remarkable achievements in this field, two major issues still need to be improved in the exoskeleton design methodology, the mechanical design and the controller. Considering that the dynamic modelling approach plays a key role in these issues, this article proposes the use of modular modelling methodology for the development of exoskeletons. Initially, the conceptual design of a lower limb exoskeleton is presented, then its kinematic and dynamic models are calculated. Finally, some performed simulations demonstrate the model consistency and the actuator torques estimation.
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