Evaluación de la Ayuda que Provee un Robot Exoesqueleto para Diferentes Situaciones de Discapacidad de Miembro Inferior en Humanos: Simulación (Evaluation of the Aid Provided by an Exoskeleton in the Reduction of the Joint Torques Exerted by Human Lower Limbs: A Simulation Study)

Cristian Méndez (cristianmr@uan.edu.co)1, Yannick Aoustin (yannick.aoustin@irccyn.ec-nantes.fr)2, Carlos Rengifo (caferen@unicauca.edu.co)3, José Armando Ordoñez (armando.ordonez@docente.fup.edu.co)4

1Universidad Antonio Nariño
2Escuela Central de Nantes
3Universidad del Cauca
4Fundación Universitaria de Popayán

This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2015
Volume: 13,   Issue: 2 
ISSN: 1548-0992

The purpose of this study is proposing the modeling for human-exoskeleton joint structure. The model of the exoskeleton human union implies a mechanical structure with cinematic constraints. Starting out from this model, we present some simulation tests, which allow analyze some human disabilities that may be presented in lower limbs. Finally, it is demonstrated how the use of our proposed mechanism for walking assistance, compensates mobility problems that may be presented in humans during the walking cycle.

Index Terms:
Human-exoskeleton, dynamic model, cinematic constraints   

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