Modelo matemático y herramienta de simulación de exoesqueleto activo de cinco segmentos
This paper presents a mathematical model and simulation tool for an individual wearing an exoskeleton on his lower limbs. The model presents five union segments (legs, thighs and torso) moved by electrical motors. The movement equations, presented in matrix form, are based on Lagrange-Euler and simu...
- Autores:
-
Cruz Ardila, Juan Carlos
Ramírez Escarpeta, José Miguel
- Tipo de recurso:
- Fecha de publicación:
- 2012
- Institución:
- Universidad de San Buenaventura
- Repositorio:
- Repositorio USB
- Idioma:
- spa
- OAI Identifier:
- oai:bibliotecadigital.usb.edu.co:10819/5000
- Acceso en línea:
- http://hdl.handle.net/10819/5000
- Palabra clave:
- Exoesqueleto
Modelo marcha
Segmentos de enlace
Torques articulares
Exoskeleton
Joint torques
Link segments
Motion model
Protesis
Ecuación de Lagrange
- Rights
- License
- Atribución-NoComercial-SinDerivadas 2.5 Colombia
| Summary: | This paper presents a mathematical model and simulation tool for an individual wearing an exoskeleton on his lower limbs. The model presents five union segments (legs, thighs and torso) moved by electrical motors. The movement equations, presented in matrix form, are based on Lagrange-Euler and simulated on Matlab. The data obtained represents the joint torques according to preset trajectories. The trajectories are taken from a gait cycle and the results are matched against those found on the bibliography. The simulation built in Matlab, is a tool that allows a physiotherapist to evaluate behaviors from a subject, with motor disabilities on his lower limbs, who is wearing an exoskeleton. |
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