Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology
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 des...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/4/248 |
| _version_ | 1797410345803841536 |
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| author | Tarcisio Antonio Hess-Coelho Milton Cortez Rafael Traldi Moura Arturo Forner-Cordero |
| author_facet | Tarcisio Antonio Hess-Coelho Milton Cortez Rafael Traldi Moura Arturo Forner-Cordero |
| author_sort | Tarcisio Antonio Hess-Coelho |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T04:28:36Z |
| format | Article |
| id | doaj.art-42fea7e960ed4e03999862273b38297a |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T04:28:36Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-42fea7e960ed4e03999862273b38297a2023-12-03T13:38:31ZengMDPI AGMachines2075-17022022-03-0110424810.3390/machines10040248Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling MethodologyTarcisio Antonio Hess-Coelho0Milton Cortez1Rafael Traldi Moura2Arturo Forner-Cordero3Department of Mechatronics and Mechanical Systems Engineering, Escola Politecnica, Universidade de Sao Paulo, Sao Paulo 05508-220, BrazilDepartment of Mechatronics and Mechanical Systems Engineering, Escola Politecnica, Universidade de Sao Paulo, Sao Paulo 05508-220, BrazilDepartment of Mechatronics and Mechanical Systems Engineering, Escola Politecnica, Universidade de Sao Paulo, Sao Paulo 05508-220, BrazilDepartment of Mechatronics and Mechanical Systems Engineering, Escola Politecnica, Universidade de Sao Paulo, Sao Paulo 05508-220, BrazilAmong 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.https://www.mdpi.com/2075-1702/10/4/248exoskeletonsmodular modelling methodologydynamic modelling |
| spellingShingle | Tarcisio Antonio Hess-Coelho Milton Cortez Rafael Traldi Moura Arturo Forner-Cordero Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology Machines exoskeletons modular modelling methodology dynamic modelling |
| title | Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology |
| title_full | Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology |
| title_fullStr | Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology |
| title_full_unstemmed | Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology |
| title_short | Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology |
| title_sort | progressive improvement of the model of an exoskeleton for the lower limb by applying the modular modelling methodology |
| topic | exoskeletons modular modelling methodology dynamic modelling |
| url | https://www.mdpi.com/2075-1702/10/4/248 |
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