Simulation and control of a six degree of freedom lower limb exoskeleton

• Main Authors: Mohammad Soleimani Amiri,, Rizauddin Ramli,, Mohd Aizat Ahmad Tarmizi,, Mohd Faisal Ibrahim,, Narooei, Khashayar Danesh
• Format: Article
• Language: English
• Published: Penerbit Universiti Kebangsaan Malaysia 2020
• Online Access: http://journalarticle.ukm.my/15324/1/03.pdf; http://journalarticle.ukm.my/15324/; http://www.ukm.my/jkukm/volume-322-2020/

In this paper, the development of controlling a six Degree of Freedom (DOF) Lower Limb Exoskeleton (LLE) model using the Robot Operating System (ROS) is presented. Moreover, this work proposes a method to analyze kinematic properties and control of the LLE before the prototype. The model of the LL...