Open access
Aug 2026
A Hybrid Verification Method for an Actuated Lower-Limb Exoskeleton Based on Mathematical and Simulation Analyses
This study proposes a hybrid method for pre-design verification of the geometric and biomechanical compatibility of experimentally recorded gait trajectories with a lower-limb exoskeleton. The method integrates joint-space kinematic analysis, CAD-based self-collision detection in a Unity digital twin, anatomical hip an...
A. Obukhov, Nikita Mayorov, D. Teselkin et al.
· Robotics · 0 citations