FesRobex Torque Joints Calculation

The mathematical model for calculating the torque of robotic exoskeleton joints using LabVIEW software. The calculation of torques is an important parameter for the correct choice of motors to achieve the torques we need in each joint of the robotic exoskeleton. In the mathematical model, there is the possibility of entering measurements of joint torques and characteristics for each servomotor in a SQL database and performing statistical analysis of servomotors. The aim is to make the right choice between brushed and brushless motors and to choose the right motor based on the torques developed on the joints of the FesRobex robotic exoskeleton (research model of an electric stimulation system of Fes hybrid function and Robex robotic exoskeleton). Healthcare 2022, 10(10), 2054; doi.org/10.3390/healthcare10102054

In the results presented in Table 7, the maximum torques of brush and brush motors in mNm were obtained from the database, as shown in Figure 12. Furthermore, the graph in Figure 13 calculates torques at each joint at the lower end over time, according to the extracted parameters resulting from the mathematical model. Therefore, according to the previous data, a thigh motor is suitable if it offers a maximum torque of at least 150 Nm. Similarly, a knee motor is suitable if it offers a maximum torque of at least 35 Nm, and an ankle motor is suitable if it offers a maximum torque of at least 10 Nm.