Kinematic and Dynamic Modeling and Analysis of a Lower Extremity Exoskeleton

An exoskeleton is expected to help humans carry heavy loads and perform demanding tasks for longer periods of time, or it can help humans save energy in some task. Dynamic behavior is one of key issues in exoskeleton system. An exoskeleton with good dynamic behavior can help increase stability, safety and minimize human-exoskeleton interaction forces. In this paper a lower extremity exoskeleton is modeled as three-segment leg plus torso. Then a 2-D dynamic model is built using a complex number method based on the simplified exoskeleton model, which decreases the model complexity and provide an easy way in dynamic behavior study of exoskeleton system. Results from this modeling compare well with results obtained from CGA data as well as with Working Model.