Modeling of electronic and mechanical dimensioning of an exoskeleton bottom for bipedal gait

Serpa Andrade Luis, Illescas Francisco, Cuzco William, Pinos Velez Eduardo

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This document refers to the modeling of the electronic and mechanical design of an exoskeleton part for the rehabilitation of people who have suffered a level of injury due to some type of accident, according to CONADIS (Consejo Nacional para la Igualdad de Discapacidades), the statistics of disability in Ecuador registers a total of 415.5 thousand people who have some type of disability, of which there are 196,076 thousand people with physical disabilities 2among them are persons with inability to walk and therefore need to undergo therapies; This reality motivates the design of a structure (exoskeleton) that supports and helps the reinsertion of these people into daily life using an ergonomic, comfortable, and safe therapeutic support instrument. The modeling of the lower part exoskeleton is made based on the anthropometry, kinetics and kinetics of the bipedal walk, with a rigorous analysis of stresses and deformations; Contain mechanical telescopic adjustments at the articulations between the hipknee and knee-ankle points for adaptation [1], that the angular ranges of articulation are defined by values of each actuator added to mechanical stops to avoid dislocations to the patient; It is powered by a battery with high performance and long duration, have feedback sensors to control the desired position. Its engines are lightweight, fast, low-power, coupled with suitable digital controllers, whose transfer function is calculated and serves to process the variables of the PID controller. This research will give way to future research concerning the completion of the actual construction of the prototype to be subjected to final tests and start mass production at more reasonable cost and can reach a greater number of people with limited resources.

Translated title of the contributionModelado del dimensionamiento electrónico y mecánico de un fondo de exoesqueleto para la marcha bípeda
Original languageEnglish (US)
Title of host publicationModeling of electronic and mechanical dimensioning of an exoskeleton bottom for bipedal gait
EditorsVincent Duffy, Nancy Lightner
Number of pages9
ISBN (Electronic)9783319604824
StatePublished - 1 Jan 2018
EventAdvances in Intelligent Systems and Computing - , Germany
Duration: 1 Jan 2015 → …

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


ConferenceAdvances in Intelligent Systems and Computing
Period1/01/15 → …


  • Anthropometry
  • Controllers
  • Deformations
  • Ergonomics therapy
  • Trajectory


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