A Simulation of human gait using real data in a computational exoskeleton model for lower limb
AbstractIn this work, the torques (moments of forces) were obtained that perform the joints of the lower limbs (hip and knee) through a simulation of the gait cycle in a computational model of a 4 degree freedom exoskeleton. Real data obtained from a gait analysis laboratory were used. The computational model of the exoskeleton used was designed in SolidWorks® software with the anthropomorphic data of the subject from which the gait cycle data were obtained. For the determination of the inertial and mass properties of the model, the Hannavan model was used. The data were processed using MATLAB® and the rotation angles of the hip and knee joints were obtained for the right and left lower limbs at each time point in the cycle. The processed data were entered into the MSC ADAMS®, commercial software for the design and study of mechanical parts, where the corresponding simulations were performed. In this way, it was possible to size the actuators to be used in the later construction of the exoskeleton.