Development of human lower extremity kinematic and dynamic models for exoskeleton robot based physical therapy
by S.K. Hasan; Anoop Dhingra
International Journal of Modelling, Identification and Control (IJMIC), Vol. 34, No. 3, 2020

Abstract: The World Health Organization reports that approximately one billion people are disabled in the world. Exoskeleton robot-based physical therapy is an appealing solution for a large number of disabled people. Mechanical design, modelling, and control of exoskeleton robots require anthropometric data. A majority of anthropometrical data is not readily available from a single source. Furthermore, seven degrees of freedom human lower extremity kinematic and dynamic models are also not available. This paper presents dynamic modelling and simulation of the human lower extremity. The dynamic simulation utilises a computed torque controller (CTC). A sliding mode controller (SMC) is also developed for practical applications. Simulation results show the performance of the controller, joint torque, and power requirements for tracking a specified trajectory. Because of its performance in the presence of simulated disturbances and parameter variations, it is seen that the SMC is an effective choice for controlling a real robot.

Online publication date: Fri, 04-Dec-2020

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email