OS25-4 A Wearable Walking Support System Design and Simulation

Title:	OS25-4 A Wearable Walking Support System Design and Simulation
Publication:	ICAROB2025
Volume:	30
Pages:	695-701
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2025.OS25-4
Author(s):	Omar Ayaman Yehiya, M.K.A Ahamed Khan, Mastaneh Mokayef, Ridzuan A., Abdul Qayyum, Moona Mazher, Susama Bagchi, Sanjoy Kumar Debnath, Takao Ito
Publication Date:	February 13, 2025
Keywords:	component, Lower Limb Exoskeleton, Wearable Walking Support System, PID controller
Abstract:	This research article is focused on the development of a Robotic lower limb exoskeleton model using MATLAB Simulink. The primary aim is to design a dynamic and flexible exoskeleton capable of assisting individuals with lower limb impairments, thus enhancing their mobility and overall quality of life. The model incorporates realistic representations of the lower limb anatomy, encompassing thigh, shank, and foot segments, with carefully integrated joints, constraints, and actuators to emulate natural human motion. A closed-loop control strategy optimizes the exoskeleton's performance, ensuring safe and stable operation during walking and other activities. Extensive simulations are conducted to evaluate the exoskeleton's efficacy, analyzing key parameters such as joint angles, joint torques, and power consumption.
PDF File:	https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS25/OS25-4.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/

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