Design and simulation of an exoskeleton
Abstract
The present work describes the importance of co-simulation in the design of an exoskeleton and in the area of robotic medicine. The proposed methodology consists of two processes: mechanical design and analysis; and the development of the control algorithm to demonstrate the proper functioning of the exoskeleton. The analysis of the mechanism is created through CAD in SolidWorks software, which is used for computer designs since it allows evaluating the mechanical part before it is built. For the validation of the exoskeleton, the simulation of the walk of a person is implemented, this is done with the Matlab software using a linear control algorithm. The foregoing allows to analyze and create rehabilitation routines with the help of a co-simulated exoskeleton of the lower part of the human being, which emulates the movements of a normal human gait and its control of movement, in order to achieve movement natural human and help on the issue of disability of patients with lower body injuries.
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References
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