Alejandro RubioWorkcell

Projects

Lower-Limb Exoskeleton Control Study

A study of exoskeleton control from the literature: leg model, Lagrange-Euler dynamics and a PD controller with gravity compensation.

Context

University of Alicante, Robot Control coursework

Period

2022-23

Stack

Control theory · Robot kinematics and dynamics

Area

[Kinematics & control]

Team project.

Media

Lower-limb exoskeleton prototype standing on a lab floor, with aluminium links, linear actuators and padded leg shells.
Prototype in the lab

What was built

    A group presentation. It covers the state of the art, sensing, biomechanical models, a two-degree-of-freedom leg model with Denavit-Hartenberg kinematics and Lagrange-Euler dynamics, and a PD position controller with gravity compensation, with a stability analysis at equilibrium. It is theory only, with no code, simulation or experiments.

    Facts

    ItemValue
    ControllerPD with gravity compensation

    No public repository for this project.