Mathematical Modelling of Human Amplifier Robot

Abstract

Abstract-Since the 1960s, several researches has been done on the conceptual design and active and passive control strategy of the lower extremity exoskeleton robot to achieve the most effective assistant exoskeleton robot in military and heavy industrial areas. In this study, a new active control strategy of two degrees of freedom exoskeleton robot was realized. Firstly, a double-pendulum (TDP) mechanism is used to demonstrate the human amplifier robot which follows and assist the healthy human low body movements. Then, mathematical model of this system is estimated. The numerical results are obtained and presented.