Sizing and Actuation of Child Lower Limb Exoskeleton

Abstract

In this article, the sizing problematic has been treated for a newly developed exoskeleton to operate effectively. The objective of the latter exoskeleton is to aid the paralyzed children to move their lower extremities and perform a complete gait motion and other physical activities. The applied torques on each actuator's are calculated by defining the quasi- static loads generated during the worst-case configurations of the children lower limbs, and also, using a normalized bio- mechanical data extracted from literature. Also, a virtual model is developed using Matlab-Simulink to verify the results.