Proposal of novel model for a 2 dof exoskeleton for lower-limb rehabilitation
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Abstract
Nowadays, engineering is working side by side with medical sciences to design and create
devices which could help to improve medical processes. Physiotherapy is one of the areas of medicine
in which engineering is working. There, several devices aimed to enhance and assist therapies are
being studied and developed. Mechanics and electronics engineering together with physiotherapy
are developing exoskeletons, which are electromechanical devices attached to limbs which could
help the user to move or correct the movement of the given limbs, providing automatic therapies
with flexible and configurable programs to improve the autonomy and fit the needs of each patient.
Exoskeletons can enhance the effectiveness of physiotherapy and reduce patient rehabilitation time.
As a contribution, this paper proposes a dynamic model for two degrees of freedom (2 DOF) leg
exoskeleton acting over the knee and ankle to treat people with partial disability in lower limbs.
This model has the advantage that it can be adapted for any person using the variables of mass
and height, converting it into a flexible alternative for calculating the exoskeleton dynamics very
quickly and adapting them easily for a child’s or young adult’s body. In addition, this paper includes
the linearization of the model and an analysis of its respective observability and controllability,
as preliminary study for control strategies applications.
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Atribución-NoComercial-CompartirIgual 2.5 Colombia