Dynamic Simulation for the Eight Degree of Freedom Upper Limb Exoskeleton


  • Mohanad Al asady Mechanical Department/ Engineering College/Al Nahrain University /Baghdad, Iraq
  • Ayad Murad Takhakh Mechanical Department/ Engineering College/Al Nahrain University /Baghdad, Iraq


upper limb exoskeleton, Robotic, Rehabilitation, Simulation, MATLAB


The World Health Organization yearly states that over 15 million persons worldwide have a stroke and cardiovascular illness. Among these cases, 85% ofstrokedpatients suffer from motion arm dysfunctionality, while 40% of them are left with chronic impairment or permanent disability. This imposes a significant cost on families, communities, and the country as a whole. Rehabilitation programmes are the primary method for promoting functional recovery in these individuals. Given the continuous increase in the number of such patients and the lengthy period of therapy, the inclusion of an intelligent robot might greatly enhance the effectiveness of these programmes. Consequently, a novel 8-DoFs robotic exoskeleton have created. The actuator model for the joint is constructed using the MATLAB system identification approach, allowing for an analysis of the dynamics of the exoskeleton. A SolidWorks software is utilized to create a three-dimensional model of the exoskeleton. Additionally, a simulation technique is employed utilizing Sim Mechanics. Subsequently, the model undergoes verification by simulation, integration with a MATLAB-Simulink control model, and testing under both payload and non-payload situations. The results indicate that the model may be successfully utilized in simulation to validate the controller's performance in tracking the trajectory of exoskeleton. The root mean square (RMS) error for angle ofthe joint is small and closely approximates the desired input of the joint




How to Cite

Mohanad Al asady, & Ayad Murad Takhakh. (2024). Dynamic Simulation for the Eight Degree of Freedom Upper Limb Exoskeleton. Chinese Journal of Computational Mechanics, (5), 615–624. Retrieved from http://jslxxb.cn/index.php/jslxxb/article/view/4430