Torque Analysis of the Lower Limb Exoskeleton Robot Design

Exoskeleton is a type of wearable robots that can augment the performance of an able-bodied user. There are many studies that use hydraulic actuator to actuate the lower limb exoskeleton which possesses several drawbacks like dirty, noisy and high power consumption. Therefore, electrical actuators that are clean, silent and less power consuming are used in designing the lower limb exoskeleton in this project. Hence, this project is aimed to derive the mathematical model and joint torque equations, to design a lower limb exoskeleton using electrical motors from the market and to validate the design of the lower limb exoskeleton by simulation. This project shows the progress of selecting the electrical actuators for exoskeleton in accordance to the calculations and verifying the selections via simulations. In other words, this project serves as a guide to select appropriate electrical actuators for an exoskeleton robot.