LOWER LIMB EXOSKELETON SYSTEM FOR PARAPLEGIC PATIENTS MOTION ASSIST:MATHEMATICAL MODEL FOR THE DYNAMIC SIMULATION

The main scope of the present research is to develop mathematical model to study of the lower-limb exoskeleton system employed for paraplegic patients’ motion assistance. A seven-DOF serial link mechanism model was employed to represent the anterior-posterior motion study of the exoskeleton and pilot dynamics. Lagrangian mechanics approach employed to formulate the governing equations of motion. It is hoped that the proposed model will provide an effective tool for future designing of the control strategy for active exoskeleton system to assist a paraplegic subject to walk.

Keywords:

Exoskeleton , Paraplegic , Dynamic Model