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Exoskeletons are designed to assist and enhance the human beings ability to move with lesser efforts. The estimation of torque required at joints of an Exoskeleton is having a prior importance, to choose the right actuator. We have used motion analysis software to measure the parameters of motion during sit to stand phase (STS) and back to sit phase (BTS) and the torque is calculated using Lagrangian...
Back-To-Sit and Sit-To-Stand movements are the most important and essential movements for any human being to sustain their life and to accomplish their habitual actions. Not only for human beings, but for robots or assistive devices to accomplish several tasks, these movements are vital. The knee joint has the major functionality to execute such movements and indeed, the torque required at these joints...
The force and moment at ankle, hip and knee joints are determined based on reaction forces and moments acting at those joints. The reaction forces and moments developed at these joints are due to the ground reaction forces at the foot. These ground reaction forces are measured using force plates. And using newton's equations of motion, the forces and moments at ankle, knee and hip joints are calculated...
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