Robotic Design and Modeling of Medical Lower Extremity Exoskeletons

Çalıkuşu İ., Uzunhisarcıklı E., Çetinkaya M. B. , Fidan U.

İLERİ MÜHENDİSLİK ÇALIŞMALARI ve TEKNOLOJİLERİ DERGİSİ , vol.1, no.2, pp.198-214, 2020 (Peer-Reviewed Journal)


This study aims to explain the development of the robotic Lower Extremity Exoskeleton (LEE) systems between 1960 and 2019 in chronological order. The scans performed in the exoskeleton system’s design have shown that a modeling program, such as AnyBody, and OpenSim, should be used first to observe the design and software animation, followed by the mechanical development of the system using sensors and motors. Also, the use of OpenSim and AnyBody musculoskeletal system software has been proven to play an essential role in designing the human-exoskeleton by eliminating the high costs and risks of the mechanical designs. Furthermore, these modeling systems can enable rapid optimization of the LEE design by detecting the forces and torques falling on the human muscles.