3 Human Exoskeleton Dynamics Model

• Two dimensional
  • sagittal plane
• Fixed hip location
  • is not time varying
• Four segments:
  • left/right thigh, left/right shank
• Four joints:
  • left/right hip, left/right knee
• Point foot
  • contact point with environment
• Sympy:
  • generate symbolic dynamics equation
  • kane’s Method (Fr + Fr* = 0)
• Pydy:
  • generate C code and python interface

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