Kinematic and Dynamic Analyses of Lower Body Exoskeleton Mechanism Using Adams

Abstract

This paper illustrates the validation of a mathematical model developed for the kinematic and dynamic analyses of the lower body exoskeleton mechanism using Adams software. This framework is designed to assist individuals in the shipbuilding industry for lifting heavy payload with reduced physical fatigue. It contains modeling, simulation, and validation of the proposed lower body exoskeleton mechanism. An Adams software-based simulation environment is developed to validate the results obtained from the kinematic and dynamic analyses of the mechanism. Further, this work also extends to actuator and valve selection, sizing by utilizing clinical gait data (CGA). Torque versus gait cycle curves obtained for all active exoskeleton joints shows that the design has adequate torque to perform tasks with a payload of 30 kg. The design also ensures a minimum consumption of energy at the same time. Future work will be to build a prototype and test simulation results.