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A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators

Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joi...

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Autores principales: Glowinski, Sebastian, Krzyzynski, Tomasz, Bryndal, Aleksandra, Maciejewski, Igor
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7663499/
https://www.ncbi.nlm.nih.gov/pubmed/33121194
http://dx.doi.org/10.3390/s20216116
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author Glowinski, Sebastian
Krzyzynski, Tomasz
Bryndal, Aleksandra
Maciejewski, Igor
author_facet Glowinski, Sebastian
Krzyzynski, Tomasz
Bryndal, Aleksandra
Maciejewski, Igor
author_sort Glowinski, Sebastian
collection PubMed
description Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joint angles during walking and running by using Inertial Measurement Units. The geometry and kinematic parameters were calculated. Twenty-six healthy adults participated in walking and running experiments. The geometric model of a human leg hydraulic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. The position and velocity of exoskeleton actuators in each phase of movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). The highest velocity of the knee actuator during walking and running was in the swing phase, 0.3 and 0.4 m/s, respectively. For the ankle and hip joints, the highest velocity of actuators occurred during the push-off phase. The results with 26 healthy subjects demonstrated that the system's compliance can be effectively adjusted while guiding the subjects walking in predefined trajectories. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators’ characteristic points.
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spelling pubmed-76634992020-11-14 A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators Glowinski, Sebastian Krzyzynski, Tomasz Bryndal, Aleksandra Maciejewski, Igor Sensors (Basel) Letter Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joint angles during walking and running by using Inertial Measurement Units. The geometry and kinematic parameters were calculated. Twenty-six healthy adults participated in walking and running experiments. The geometric model of a human leg hydraulic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. The position and velocity of exoskeleton actuators in each phase of movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). The highest velocity of the knee actuator during walking and running was in the swing phase, 0.3 and 0.4 m/s, respectively. For the ankle and hip joints, the highest velocity of actuators occurred during the push-off phase. The results with 26 healthy subjects demonstrated that the system's compliance can be effectively adjusted while guiding the subjects walking in predefined trajectories. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators’ characteristic points. MDPI 2020-10-27 /pmc/articles/PMC7663499/ /pubmed/33121194 http://dx.doi.org/10.3390/s20216116 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Letter
Glowinski, Sebastian
Krzyzynski, Tomasz
Bryndal, Aleksandra
Maciejewski, Igor
A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators
title A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators
title_full A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators
title_fullStr A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators
title_full_unstemmed A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators
title_short A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators
title_sort kinematic model of a humanoid lower limb exoskeleton with hydraulic actuators
topic Letter
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7663499/
https://www.ncbi.nlm.nih.gov/pubmed/33121194
http://dx.doi.org/10.3390/s20216116
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