1192.

Dynamics and kinematics analysis and simulation

of lower extremity power-assisted exoskeleton
Yanbei Li1, Lei Yan2, Hua Qian3, Jian Wu4, Sen Men5, Na Li6
School of Technology, Beijing Forestry University, China
2Corresponding author
E-mail: [email protected], [email protected], [email protected], [email protected],
[email protected], [email protected]
(Received 13 November 2013; received in revised form 3 January 2014; accepted 23 January 2014)

Abstract. According to the walking character of lower extremity power-assisted exoskeleton that
was designed by our Robotics Laboratory, D-H convention was applied to the kinematics analysis
of this exoskeleton model. Lagrangian dynamics was used to analyzing dynamics for the
single-foot support model, double-feet support model and double-feet support with one
redundancy model respectively. The kinematical equation was obtained and MATLAB was used
to verify its validity. Meanwhile, the Kinetic equations and torque of each joint were obtained by
virtue of ADAMS. Our study provided a theoretical foundation for the control strategies, and
optimization design of the mechanical structure and promoted the practical application of this
lower extremity power-assisted exoskeleton in further research.
Keywords: lower exoskeleton, dynamic, kinematics, simulation.
1. Introduction
Lower extremity power-assisted exoskeleton is a kind of robot which is defined as an
electromechanical device in overall or a frame that worn by a human operator. The lower extremity
power-assisted exoskeleton is developed mainly to help human perform difficult tasks due to
either their physical limitations or muscles fatigues. In addition, exoskeletons can increase the
endurance, traveling speed, and even balance of the wearer in extremely difficult terrains [1]. With
the development of science and technology, the research on lower extremity exoskeleton has
gradually extended to the field of mechanics, robotics, bionics, control theory, information
processing, and communication technology etc.
As early as in 1960s, our pioneers have started to research on the exoskeleton. A master-slave
system named the Hardiman was developed by General Electric in 1968. Furthermore some
successful and remarkable examples of lower extremity power-assisted exoskeleton such as
BLEEX and HAL, were designed for military missions and power enhancement respectively in
the 21st century [2].
The Berkeley Lower Extremity Exoskeleton (BLEEX) project funded by the Defense
Advanced Research Project Agency (DARPA), USA, was first unveiled in 2004, at the University
of California, Berkeleys Human Engineering and Robotics Laboratory [3]. It was a
field-operational robotic system worn by an operator, which could provide the wearer with the
ability of undertaking significant loads on the back with minimal effort when negotiating any
terrain. BLEEX featured seven DOFs per leg, and the exoskeleton was actuated via bidirectional
linear hydraulic cylinders mounted in a triangular configuration with the rotary joints, resulting in
an effective moment arm varying with joint angles [4].
Hybrid Assistive Limb (HAL) was successfully developed in Tsukuba University of Japan
which was a lightweight power assist device. The latest model, HAL-5, was a full-body suit unit
designed to aid people who had degenerated muscles and paraplegics from brain or spinal injuries.
It was connected to thighs and shanks of the patient and moved the patients legs as a function of
the EMG (electromyogram) signals measured from the wearer [4]. Through the use of DC motors
integrated with harmonic drives, each leg of HAL-5 powers the flexion/extension motion at the
hip and knee in the sagittal plane.
The lower extremity power-assisted exoskeleton system (LEPES) designed by our Robotics
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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

Laboratory is a kind of wearable mechanical legs, which contains mechanical systems, sensors
and control systems. The mechanical system includes waist, hip, knee, leg and foot. In regardless
of complex activities such as jumping and going-upstairs, the main purpose of LEPES is providing
power assistance for wearers when they walk hard. Thus, in the aspect of DOFs distribution, the
LEPES features three DOFs at the hip, one at the knee, and three at the ankle per leg. Of these,
two DOFs are actuated by Maxon DC motors: hip flexion/extension and knee flexion/extension
in the sagittal plane. The mechanical structure built in our Robotics Laboratory is shown in Fig. 1.
As a wearable biped exoskeleton system, LEPES should be programmed to walk naturally to
provide intimacy to human. However, the human gait is a complex dynamic activity. Therefore,
in order to get accurate control strategies and conduct the optimization design of mechanical
structure, it is very important and necessary to build the dynamic and kinematics model and gain
the kinematical and dynamic equation for LEPES.

Fig. 1. The lower extremity powerassisted exoskeleton system

Fig. 2. Kinematical model of LEPES

2. Kinematical model of LEPES

The kinematic analysis of LEPES can be facilitated by using the Denavt-Hartenberg (D-H)
convention because of its well-established analysis procedures.
In order to simplify the calculation of the kinematical model, the waist (actually the projection
of waist in the sagittal plane), the legs and the feet are regarded as the rigid links; the hip, knee
and ankle are simplified as the revolute pair in the sagittal plane. Thus, the whole kinematical
model is a five-link biped model, and the link frames {0} through {6} of the LEPES can be
established, as shown in Fig. 2. Here, frame {0} represents the world reference frame, where 0 is
horizontal axis, 0 is vertical axis and 0 is perpendicular to the surface with the outward direction
as the positive direction.
Based on the D-H rules and the five-link biped model, parameters of LEPES can be deduced
as shown in Table 1. It should be noted that the parameters in Table 1 can be selected in different
ways because the D-H notation is not unique.
According to the D-H convention, D-H homogeneous matrix representation is used to describe
the spatial displacement between neighboring link coordinate frames to obtain the information
related to kinematics of each link [5].
Assuming 1 is the homogeneous transformation matrix describing the relative translation
and rotation between 1 and coordinate systems, then we can obtain:

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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

c1 s1
s
c1
1 = [ 1
0
0
0
0
c2 s2
s
c2
1
2 = [ 2
0
0
0
0
c3 s3
s
c3
2
3 = [ 3
0
0
0
0
c4 s4
s
c4
3
4 = [ 4
0
0
0
0
c5 s5
s
c5
4
5 = [ 5
0
0
0
0
c6 s6
s
c6
5
6 = [ 6
0
0
0
0

0
0
1
0
0
0
1
0
0
0
1
0
0
0
1
0
0
0
1
0
0
0
1
0

0
0],
0
1
1
0
],
0
1
2
0 ],
0
1
3
0 ],
0
1
4
0 ],
0
1
5
0 ],
0
1

(1)

(2)

(3)

(4)

(5)

(6)

where sin and cos are represented by s and c, respectively.

Table 1. D-H parameters for LEPES

1
1
1
1
0
0
0
0
1
1
0
0
1
2
2
0
0
2
3
3
0
0
3
4
4
0
0
4
5
5
0
0
5
6
Note: is the link number,
1 is the distance between 1 and along ,
1 is the angle between 1 and about ,
1 is the distance between 1 and along 1,
is the angle between 1 and about 1,
is the joint variable about .

1
2
3
3
5
6

Thus, the ankle reference frame {6} can be expressed in the world reference frame {0}, as
given in Eq. (7):
0
6

= 01 12 23 34 45 56

=1
6

=1
6

=1

=1

0
0

0
0

=1
5

=1
4

=1
3

=1
2

5 s + 4 s + 3 s + 2 s + 1 s1
=1

1
0

5 c + 4 c + 3 c + 2 c + 1 c1

=1

=1

0
1

(7)

=1

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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

According to D-H convention, Eq. (7) can be transformed as follows:

0 0

=1
6

]=

s
1
=1
0
[ 0

=1
6

=1
5

=1

=1
4

=1
3

=1
2

. (8)

5 s + 4 s + 3 s + 2 s + 1 s1
=1

0
0

5 c + 4 c + 3 c + 2 c + 1 c1

=1

=1

1
0

=1

0
1

Thus, the position of the ankle 06 can be determined as Eq. (9) with respect to the world
reference frame {0}:
5

5 c + 4 c + 3 c + 2 c + 1 c1
=1
5

6 =

=1
4

=1
3

=1
2

(9)

5 s + 4 s + 3 s + 2 s + 1 s1
=1

=1

=1

=1

The posture of the ankle 06 can be determined as Eq. (10):

6

=1
6

=1
6

=1

=1

6 =
[

0
.

(10)

0
1]

3. Dynamic models of LEPES

A human walking gait cycle can be divided into three gait patterns [6]: the single-foot support
model(one foot stance, the other swing), double-feet support model(double feet whole stance) and
double-feet support with one redundancy model(one foot whole stance while the heel or the toes
of the other kicks the ground).
Since the force and the position of center of mass for each leg and each joint are different in
each gait pattern, this paper decides to use Lagrangian method to analyze the three gait patterns
respectively.
In order to simplify the calculation of the dynamic model, the waist (actually the projection of
waist in the sagittal plane), the legs and the feet are regarded as the rigid links; the hip, knee and
ankle is simplified as the revolute pair in the sagittal plane.
3.1. The double-feet support model
The double-feet support dynamic model of LEPES is illustrated in Fig. 3, where stands for
the distance between the center of mass of link and the ends of link ; represents the angle
between link and link 1; is the length of each link; and is the mass of each link ,
= 1,2,,6; 1 and 2 represent the DC motors of knee, 1 and 2 stands for the DC motors of
hip. Coordinate System {} is the world reference frame.

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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

Thus, ( , ) (the center of mass of link ) can be obtained according to the Geometric
relationships in Fig. 3:
0 = 0 ,
1 = 1 s1 ,
2 = 1 s1 + 2 s(1 2 ),
3 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ),
4 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ),
(11)
1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) +
},
5 = {
+4 s(3 1 + 2 4 ) + 5 s(3 1 + 2 4 5 )
s + 2 s(1 2 ) + 3 s(3 1 + 2 ) +
},
={1 1
{ 6
+4 s(3 1 + 2 4 ) + 5 s(3 1 + 2 4 5 ) + 6
0 = 0,
1 = 1 c1 ,
2 = 1 c1 + 2 c(1 2 ),
3 = 1 c1 + 2 c(1 2 ) 3 c(3 1 + 2 ),
(12)
4 = 4 c(3 1 + 2 4 ) 4 c(3 1 + 2 4 ) + 5 c(3 1 + 2 4 5 ),
5 = 5 c(3 1 + 2 4 5 ) 5 c(3 1 + 2 4 5 ),
{6 = 0.
The coordinate of each actuated motor ( , ) is:
1 = 1 s1 ,
1 = 1 s1 + 2 s(1 2 ),
2 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ),
{2 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ),
1 = 1 c1 ,
1 = 1 c1 + 2 c(1 2 ),
2 = 4 c(3 1 + 2 4 ) + 5 c(3 1 + 2 4 5 ),
{2 = 5 c(3 1 + 2 4 5 ).

Fig. 3. The double-feet support model

(13)

(14)

Fig. 4. The double-feet support with one

redundancy(toes of one foot kicking the ground)

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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

3.2. The double-feet support with one redundancy model

As mentioned above, there are two situations of the double-feet support with one redundancy
model, and this study just analyzes the model that one foot whole stances while the toes of the
other kick the ground because of the same theories, as shown in Fig. 4.
stands for the distance between the center of mass of link and the ends of link ;
represents the angle between link i and link 1; is the length of each link; is the mass of
each link , = 1, 2,, 6; 1 and 2 represent the DC motors of knee, 1 and 2 stands for the
DC motors of hip. Coordinate System {} is the world reference frame.
Therefore, ( , ) (the center of mass of link ) can be obtained according to the Geometric
relationships:
0 = 0 s0 0 s0 ,
1 = 1 s1 ,
2 = 1 s1 + 2 s(1 2 ),
3 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ),
4 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ),
(15)
(
)
(
)
(
)
s + 2 s 1 2 + 3 s 3 1 + 2 + 4 s 3 1 + 2 4 +
},
5 = { 1 1
+5 s(3 1 + 2 4 5 )
s + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ) +
},
={1 1
{ 6
+5 s(3 1 + 2 4 5 ) + 6
0 = 0 c0 ,
1 = 1 c1 + 0 c0
2 = 1 c1 + 2 c(1 2 ) + 0 c0 ,
3 = 1 c1 + 2 c(1 2 ) 3 c(3 1 + 2 ) + 0 c0 ,
(16)
4 = 4 c(3 1 + 2 4 ) 4 c(3 1 + 2 4 ) + 5 c(3 1 + 2 4 5 ),
5 = 5 c(3 1 + 2 4 5 ) 5 c(3 1 + 2 4 5 ),
{6 = 0.
The coordinate of each actuated motor ( , ) is:
1 = 1 s,
1 = 1 s1 + 2 s(1 2 ),
2 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ),
{2 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ),
1 = 1 c1 + 0 c0 ,
1 = 1 c1 + 2 c(1 2 ) + 0 c0 ,
2 = 4 c(3 1 + 2 4 ) + 5 c(3 1 + 2 4 5 ),
{2 = 5 c(3 1 + 2 4 5 ).

(17)

(18)

3.3. The single-foot support model

Fig. 5 shows the single-foot support dynamic model of LEPES. stands for the distance
between the center of mass of link and the ends of link ; represents the angle between link
and link 1; is the length of each link; is the mass of each link , = 1, 2,, 6; 1 and 2
represent the DC motors of knee, 1 and 2 stands for the DC motors of hip. Coordinate System
{} is the world reference frame.
Thus, ( , ) (the center of mass of link ) can be obtained according to the Geometric
relationships:

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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

0 = 0 s0 0 s0 ,
1 = 1 s1 ,
2 = 1 s1 + 2 s(1 2 ),
3 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ),
4 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ),
(19)
1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ) +
},
5 = {
+5 s(3 1 + 2 4 5 )
s + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ) +
},
6 = { 1 1
{
+5 s(3 1 + 2 4 5 ) + 6
0 = 0 c0 + ,
1 = 1 c1 + 0 c0 + ,
2 = 1 c1 + 2 c(1 2 ) + 0 c0 + ,
3 = 1 c1 + 2 c(1 2 ) 3 c(3 1 + 2 ) + 0 c0 + ,
(20)
4 = 4 c(3 1 + 2 4 ) 4 c(3 1 + 2 4 ) + 5 c(3 1 + 2 4 5 ),
5 = 5 c(3 1 + 2 4 5 ) 5 c(3 1 + 2 4 5 ),
{6 = 0.

Fig. 5. The single-foot support model

The coordinate of each actuated motor ( , ) is:

1 = 1 s,
1 = 1 s1 + 2 s(1 2 ),
2 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ),
{2 = 1 s1 + 2 s(1 2 ) + 3 s(3 1 + 2 ) + 4 s(3 1 + 2 4 ),
1 = 1 c1 + 0 c0 + ,
1 = 1 c1 + 2 c(1 2 ) + 0 c0 + ,
2 = 4 c(3 1 + 2 4 ) + 5 c(3 1 + 2 4 5 ),
{2 = 5 c(3 1 + 2 4 5 ).

(21)

(22)

3.4. The equation of Lagrangian dynamics

According to the method of Lagrangian dynamics, the Lagrangian function is defined as the
difference of the system between kinetic energy and potential energy , i.e.:
= .
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(23)

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YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

The equation of Largrangian dynamics can be obtained according to Eq. (23), as shown in
Eq. (24):
=

(
)
, = 0,1, . . . , ,

(24)

where is number of generalized coordinate system, represents the generalized coordinate,

stands for the generalized velocity, is the generalized force or generalized torque applied to the
th coordinate.
The total kinetic energy of drive motors in each dynamics model of LEPES is:
=

1
( 2 + 2 22 + 1 21 + 2 22 ),
2 1 1

(25)

where 21 = 21 + 21 , 22 = 22 + 22 , 21 = 21 + 21 , 22 = 22 + 22 ; and 1 , 2 , 1 , 2
is equivalent moment of inertia of each motor respectively in generalized coordinate system.
The total kinetic energy of links in each dynamic model of LEPES can be calculated as follows:
6

(26)

= ,
=0
1

where = 2 2 , 2 = 2 + 2 , = 0,1,...,6, is equivalent mass of each links, stands

for the velocity of each link in the generalized coordinate.
Thus, the total kinetic energy of each dynamic model of LEPES can be obtained, in accordance
with the Eq. (25) and Eq. (26):
6

1
= + = ( ( 2 + 2 ) + 1 21 + 2 22 + 1 21 + 2 22 ).
2

(27)

=0

The total potential energy of each dynamic model of LEPES is:

6

(28)

= ,
=0

where = , is the component of acceleration of gravity along -axis.

The Lagrangian function for each dynamic model can be expressed as below, based on the
Eq. (27) and Eq. (28):
6

=0

=0

1
= = ( ( 2 + 2 ) + 1 21 + 2 22 + 1 21 + 2 22 ) .
2

(29)

Therefore, according to Eq. (24) and Eq. (29), the Lagrange equation of each dynamic model
in the th generalized coordinate can be obtained:
=

( )
.

Finally, the entire kinetic equation of each dynamics model can be expressed as:

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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

= [0

5 ] .

(31)

In accordance with the Eq. (31), in the double-feet support model, 0 and 5 represented the
actuated torque of ankles, 1 and 4 stand for the actuated torque of knees, 2 and 3 are the
actuated torque of hips. In the double-feet support with one redundancy model, 0 and 5
represent the actuated torque of ankle that the toes kicking ground and the ankle which the whole
foot supporting ground respectively, 1 and 4 stand for the actuated torque of knee that the toes
kicking ground and the knee which the whole foot supporting ground respectively, 2 and 3 are
the actuated torque of hip that the toes kicking ground and the hip which the whole foot supporting
ground respectively. In single-foot support model, 0 and 5 represent as the actuated torque of
ankle that the foot swing and the ankle which the foot supporting ground respectively, 1 and 4
stand for the actuated torque of knee that the foot swing and the knee which the foot supporting
ground respectively, 2 and 3 are the actuated torque of hip that the foot swing and the hip which
the foot supporting ground respectively.
4. Simulations verification
In this Section, MATLAB and ADAMS are used to verify the accuracy of D-H equation of
kinematics and Lagrange equation of dynamics respectively.
According to the design principles of exoskeleton mentioned in literature [7], this paper
assumes the kinematical parameters of LEPES as listed in Table 2.
Theoretically, according to Eq. (7), the homogeneous transformation matrix can be obtained
using the parameters in Table 2:
0.87
0.50
6 = [
0
0

0.50
0.87
0
0

0
0
1
0

759.82
119.98 ].
0
1

(32)

By virtue of MATLAB, the simulation result of the LEPESs kinematics model is consistent
with the theoretical result, as illustrated in Fig. 6.
Table 2. The given kinematical parameters of
LEPES
Link Length Joint variable Angle

420 mm

1
1
4

419 mm

2
2
6

200 mm
3
3
2

419mm
4
4
4

420 mm
5
5
6

Fig. 6. The simulation result of kinematics model by

MATLAB

As for the simulation of the dynamic model of LEPES, in order to get the accurate result of
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dynamics simulation, the data of human gait mentioned in literature [8] and ADAMS are used.
Fig. 7 shows the virtual prototype of the LEPESs dynamic model built by ADAMS, and the
torques of actuated motors can be obtained by the simulation, as shown in Fig. 8.
According to Fig. 8, the motor torque of the hip joint is the largest, while the torque of ankle
is the smallest. Thus, there is no need to set motors to drive the ankles; instead, the DOFs of ankles
can be regarded as the assistant DOFs when designing the structure.

Fig. 7. The virtual prototype of LEPESs dynamics model

Fig. 8. The simulation result of dynamic model of LEPES

5. Conclusions
In conclusion, from kinematical views of the lower extremity power-assisted exoskeleton
system which is designed by our Robotic Laboratory, this paper described the kinematical
characteristics of the lower extremity power-assisted exoskeleton system (LEPES) via
Denavt-Hartenberg (D-H) convention, and the homogeneous transformation matrix that could
describe the position and posture of the kinematical model of LEPES was obtained. Thus, the
precise position and gesture of the end ankle could be obtained according to the kinematical

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1192. DYNAMICS AND KINEMATICS ANALYSIS AND SIMULATION OF LOWER EXTREMITY POWER-ASSISTED EXOSKELETON.
YANBEI LI, LEI YAN, HUA QIAN, JIAN WU, SEN MEN, NA LI

equation and the ( = 1, 2,..., 6) given by the further researches which put forward an improved
control strategies. Therefore, this research on kinematics provided a significant theoretical basis
for the further study on control strategies and control algorithm of the actuated motors.
In addition, as for the dynamic analysis, Largrangian dynamics was applied to get the kinetic
equations of the three dynamic models of LEPES. And the kinetic equation of each model is
obtained. According to the Largrangian dynamics of LEPES, the theoretical torque of each motor
in each model could be calculated, which was helpful to choosing the drive motors of LEPES and
optimizing the whole structure. Therefore, this research on dynamics provided an essential
theoretical basis for the motor selection and the optimization design of mechanical structure.
Acknowledgment
This research was financially supported by the Fundamental Research Funds for the Central
Universities (TD2013-3). The authors also appreciate very much the comments and suggestions
from anonymous reviewers and the editors.
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