MODELLING AND SIMULATION OF ASSISTIVE EXOSKELETON FOR ELDERLY MOBILITY

This paper presents research on the modelling and simulation of assistive exoskeletons for elderly mobility. The exoskeleton is designed to augment physical capabilities of the elderly, so that the combined natural joint torques, and torques provided by the exoskeleton, result in overall torque equivalent to that of a physically able person. The main mobility functions considered are standing-up, sitting-down, upright balance and level walking. The current paper focuses on standing-up and sitting-down scenarios. Torque profiles required for achieving desired joint displacement are investigated to establish upper limits for control actuation applied at the exoskeleton joints to ensure smooth manoeuvres.