A kinematic model of a humanoid lower limb exoskeleton with pneumatic actuators

• Autorzy: Głowiński Sebastian , Ptak Mariusz

Identyfikatory

DOI

10.37190/ABB-01991-2021-05

• Języki publikacji: EN

Abstrakty

EN

Although it is well-established that exoskeletons as robots attached to the human body's extremities increase their strength, limited studies presented a computer and mathematical model of a human leg pneumatic exoskeleton based on anthropometric data. Methods: By using Inertial Measurement Units a lower limb joint angles (hip, knee and ankle in sagittal plane) during walking and running were calculated. The geometric model of a human leg pneumatic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. Results: The position and velocity of exoskeleton actuators in each phase of the movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). Conclusions: The obtained results demonstrate the efficiency of the proposed approach that can be utilized to analyze the kinematics of pneumatic exoskeletons using the dedicated design process. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators' characteristic points.

Słowa kluczowe

EN

inertial measurement unit; exoskeleton model; kinematic; pneumatic exoskeleton; simulation

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Acta of Bioengineering and Biomechanics
• Rocznik: 2022
• Tom: Vol. 24, no. 1
• Strony: 145--157
• Opis fizyczny: Bibliogr. 40 poz., rys., tab.

Twórcy

autor

Głowiński Sebastian

• Koszalin University of Technology, Faculty of Mechanical Engineering, Department of Mechatronics and Automatics, Koszalin, Poland.
• Pomeranian Academy is Słupsk, Institute of Health Sciences, Słupsk, Poland.

autor

Ptak Mariusz

• Wrocław University of Science and Technology, Faculty of Mechanical Engineering, Department of Machine Design and Research, Wrocław, Poland.

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