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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Parameters</td><td class="align_center">Values</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Mass of the thigh-assisting device (kg)</td><td class="align_center">0.8</td></tr><tr><td class="align_left">Mass of the shank-assisting device (kg)</td><td class="align_center">0.7</td></tr><tr><td class="align_left">Length of energy storage spring of the hip (mm)</td><td class="align_center">100</td></tr><tr><td class="align_left">Nominal diameter of energy storage spring of the hip (mm)</td><td class="align_center">35</td></tr><tr><td class="align_left">Diameter of energy storage spring of the hip (mm)</td><td class="align_center">5</td></tr><tr><td class="align_left">Length of energy storage spring of the ankle (mm)</td><td class="align_center">140</td></tr><tr><td class="align_left">Nominal diameter of energy storage spring of the ankle (mm)</td><td class="align_center">24</td></tr><tr><td class="align_left">Diameter of energy storage spring of the ankle (mm)</td><td class="align_center">2</td></tr><tr><td class="align_left">Diameter of the wire rope (mm)</td><td class="align_center">1</td></tr><tr><td class="align_left">Length of the wire rope (mm)</td><td class="align_center">550</td></tr><tr><td class="align_left">Stiffness of the wire rope (kN)</td><td class="align_center">950</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Structural parameters of unpowered lower extremity exoskeletons.</div>

Mathematical Problems in Engineering

tab4

Table 4

Table 4: Modeling and Simulation of an Unpowered Lower Extremity Exoskeleton Based on Gait Energy 