Comparison of Identified and SimScape Model of Human Leg Motion

Abstract

This article describes the study on simulation model of exoskeleton robot based on real dataset acquired through human gait dynamic identification. Analysis of kinematic chain with emphasis on proper mapping of joints movement regarding to swing phase of gait has been conducted. Simulation model of proposed conceptual mechanism was developed using MATLAB SimScape MultiBody. The results of simulation studies were compared with the experimental one. Developed model is the starting point for further research on automatic exoskeleton and bipedal robot.