English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Among the variety of applications of exoskeletons, it is possible to mention motor rehabilitation, enhancement of human capabilities and providing support to different types of tasks. Despite the remarkable achievements in this field, two major issues still need to be improved in the exoskeleton design methodology, the mechanical design and the controller. Considering that the dynamic modelling approach plays a key role in these issues, this article proposes the use of modular modelling methodology for the development of exoskeletons. Initially, the conceptual design of a lower limb exoskeleton is presented, then its kinematic and dynamic models are calculated. Finally, some performed simulations demonstrate the model consistency and the actuator torques estimation.

Progressive Improvement of the Model of an Exoskeleton for the Lower Limb by Applying the Modular Modelling Methodology