Simulating a wearable lower-body exoskeleton device for torque and power estimation

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 observe joint torque and power profiles for straight-line on-ground walking in the sagittal plane. The results indicate the validity of developed model and show promise for the design of links and actuation systems in future.