Model of three segments articulated exoskeleton with engine

Abstract

This document presents a mathematic model and the simulation of an individual who uses an exoskeleton in his lower member. We use a model of three segments of union (leg, thigh and trunk), operated with electrical engines. The approach in the movement equations is based on Langrange-Euler’s expression, and mathematical equations are presented in a matricial type of organization, that are used for the simulation in Matlab®. Data of torque are obtained in the articulations according to the pre-established trajectories that have been built with the information taken from a starter hall data found in the sought bibliography. The simulation built in simulink by Matlab® is based on a tool that allows the physical therapist to evaluate behaviors of an individual having motor disability on his lower member and who uses an exoskeleton to develop a walking cycle of his rehabilitation process.