Modeling and Simulation of a Lower-body Wearable Exoskeleton Using Robotics’ Techniques

Zohaib Aftab and Asad Ali
University of Central Punjab, Lahore Pakistan
Abstract—The article presents design and preliminary simulation results for a lower-body exoskeleton system. The device has 5DoF per leg and a common hip rotation degree between both legs. The mathematical model of the combined human-exoskeleton system is developed using the Robotics Toolbox in Matlab. Simulations are carried out to estimate joint torque and power profiles for straight-line on-ground walking. The results indicate the validity of the developed model and show promise for the design of links and actuation systems in future. 

Index Terms—Legged locomotion, wearable robots, exoskeletons

Cite: Zohaib Aftab and Asad Ali, "Modeling and Simulation of a Lower-body Wearable Exoskeleton Using Robotics’ Techniques," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 3, pp. 313-318, May 2018. DOI: 10.18178/ijmerr.7.3.313-318
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