Abstract

OLIVEROS ACOSTA, Eduardo; QUINTERO, Virgilio  and  VELASCO TOLEDO, Nelson. EFFECTOR AND SENSOR SELECTION TO ANKLE AND KNEE OF EMI-UMNG. Cienc. Ing. Neogranad. [online]. 2013, vol.23, n.1, pp.61-75. ISSN 0124-8170.

ABSTRACT Heavy objects are typically transported by wheeled vehicles, but many environments such as rocky slopes, stairs, etc., cause significant challenges to this type of locomotion. The lower limb exoskeleton for the Universidad Militar Nueva Granada (EMIUMNG) is a robotic system that provides to the operator the ability to withstand substantial loads with minimal effort on any terrain. The performance of an exoskeleton and control are problems of interest because of the precision to follow the movements of a user, avoiding injure or hinder task performance. This paper presents the design and simulation of the performance of the exoskeleton system additionally presents the selection criterion for sensors for each of the joints. Kinematic parameters are shown as the maximum speed of the actuators in the exoskeleton system EMI (Exoskeleton for Lower Limbs) of Universidad Militar Nueva Granada.

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