Proposal of novel model for a 2 DOF exoskeleton for lower-limb rehabilitation

12Citations
Citations of this article
44Readers
Mendeley users who have this article in their library.

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.

Cite

CITATION STYLE

APA

Velandia, C. C., Tibaduiza, D. A., & Vejar, M. A. (2017). Proposal of novel model for a 2 DOF exoskeleton for lower-limb rehabilitation. Robotics, 6(3). https://doi.org/10.3390/robotics6030020

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free