Scholarlink

This paper presents the mathematical modeling and simulation results of a three-actuator exoskeleton system designed to support ankle joint motion functions. The exoskeleton structure is based on linear actuators and is aimed at replicating dorsiflexion and plantarflexion and inversion - eversion movements of the ankle. Kinematic and dynamic models of the system were developed in the Matlab/Simulink environment, and joint angles as well as motor responses were calculated. The simulation results demonstrated that the exoskeleton operates effectively within the given motion limits (±10° and ±6°) and can accurately perform spatial movements through coordinated control of the three actuators.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Modeling of an Ankle Exoskeleton with Linear Actuator in MATLAB

  • 会议论文

  • 发表日期：

    2026年

查看全文
  • Nursultan Zhetenbayev,
  • Abu-Alim Ayazbay,
  • Dinara Seisenova,
  • Gani Sergazin

摘要

This paper presents the mathematical modeling and simulation results of a three-actuator exoskeleton system designed to support ankle joint motion functions. The exoskeleton structure is based on linear actuators and is aimed at replicating dorsiflexion and plantarflexion and inversion - eversion movements of the ankle. Kinematic and dynamic models of the system were developed in the Matlab/Simulink environment, and joint angles as well as motor responses were calculated. The simulation results demonstrated that the exoskeleton operates effectively within the given motion limits (±10° and ±6°) and can accurately perform spatial movements through coordinated control of the three actuators.