Does a Passive Unilateral Lower Limb Exoskeleton Affect Human Static and Dynamic Balance Control?

Kinematic and Dynamic Analysis of a Lower Limb Exoskeleton

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton. Keywords—Dynamic Analysis...

Lower-Limb Wearable Exoskeleton

There are numerous causes that can affect the functioning of the human locomotor system, leading to the appearance of joint disorders in the lower limb and generating atypical gait patterns. The importance of research and development in assistance technologies to compensate pathological gait have been recognised since the beginning of the twentieth century and numerous challenges still lie ahea...

The Passive Series Stiffness That Optimizes Torque Tracking for a Lower-Limb Exoskeleton in Human Walking

This study uses theory and experiments to investigate the relationship between the passive stiffness of series elastic actuators and torque tracking performance in lower-limb exoskeletons during human walking. Through theoretical analysis with our simplified system model, we found that the optimal passive stiffness matches the slope of the desired torque-angle relationship. We also conjectured ...

Kinematic and Dynamic Analysis of Lower Limb Rehabilitation Exoskeleton Legs

It is imperative to develop an rehabilitative appliance to help patients with lower limb disabled walk again because patients’ number increases and the traditional training needs physical therapists’ auxiliary and costs high. Therefore, we design a lower limb rehabilitative exoskeleton legs driving by two linear actuators and optimize the legs’ structure to resolve the problem that the linear w...

Control of lower limb exoskeleton with simulated EMG signal