Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
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.
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