Modeling and Simulation of an Unpowered Lower Extremity Exoskeleton Based on Gait Energy

Table 2

The motion parameters of human [27].

Parameters	Values
Body height H (mm)	180
Length of the thigh Ld (mm)	407
Length of the shank Lx (mm)	398
Length of the foot Lz (mm)	256
Body weight M (kg)	75.1646
Weight of the thigh md (kg)	9.3014
Weight of the shank mx (kg)	3.7075
Weight of foot mz (kg)	1.25
Moment of inertia of the thigh JCd (kg.m^2)	0.1412
Moment of inertia of the shank JCx (kg.m^2)	0.0511
Moment of inertia of the foot JCz (kg.m^2)	0.0041
Distance between mass center and joint for the thigh ld (m)	0.17
Distance between mass center and joint for the shank lx (m)	0.1867
Distance between mass center and joint for the foot lz (m)	0.1