Implementation of a Scale-Lab Lower-Limb Exoskeleton with Motion in Three Anatomical Planes

Abstract

This work deals with modeling, simulating and construction of a lower-limb exoskeleton with motion in the three anatomical planes, as well as to evaluate its performance to resolve trajectory tracking by means of feedback control schemes. The purpose is to create a scale-lab platform of a full-actuated exoskeleton to test tracking control of the main lower-limb joints to reproduce anatomical movements of a human being with no neuromuscular diseases. This functional scale-lab platform is the first step towards the design of neuromuscular rehabilitation tests based in full-automated assistive devices such as a lower-limb exoskeleton.