Modeling and simulation of a lower-limb exoskeleton

• Grant number: 06/02293-1
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: October 01, 2006
• End date: September 30, 2007
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Tiago Furlan Winter
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This project deals with the modeling and simulation of an exoskeleton for lower limbs based on a reciprocating gait orthosis. It will be considered in the simulation the natural characteristics of the human walking, as for exemplo, the knee flexion of the swing leg, the foot rotation and the interation forces between the users and the orthosis. For simulation, it will be considered the MSC/ADAMS environment which uses a friend interface with the user. The ADMAS model will be confirmed by an analytical modeling.