Arduino Based Simulation and Mathematical Modelling for Lower Limb Exoskeleton

Abstract

Normal Human Locomotion is amongst the biggest challenge for ensuring the rehabilitation of Persons with Locomotor Disabilities (PwLDs). Suitably designed, developed automated featured orthotic intervention is the present need of rehabilitation. There are numerous types of automation systems for lower limb exoskeleton (LLE). Control systems of LLE technology has undergone significant advancements in the last decade, incorporating various interdisciplinary areas and improving several aspects of design and functionality. In the present study, the schematic and mathematical modelling for the LLE has been done. In order to capture the schematic of the Arduino based controller and associated circuitry the Proteus simulation software is used. All the stages of the gait cycles i.e. heel-strike, foot-flat, mid-stance, heel-off, toe off, acceleration, mid-swing and deceleration have been successfully performed by using Arduino based software. Key words: Orthotics, Lower Limb Exoskeleton, Controllers, Rehabilitation devices, Arduino, Locomotor disabilities