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Rendering potential wearable robot designs with the LOPES gait trainer.

B Koopman1, E H F van Asseldonk, H van der Kooij

  • 1Department of Biomechanical Engineering, MIRA, University of Twente, Enschede, The Netherlands. b.koopman@utwente.nl

IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
|March 31, 2012
PubMed
Summary

This study demonstrates that the LOPES robotic gait trainer can simulate different wearable robot (WR) mechanical properties. This allows for virtual testing of WR designs, reducing the need for physical prototypes and improving energy efficiency.

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Area of Science:

  • Robotics
  • Biomechanics
  • Human-Robot Interaction

Background:

  • Wearable robots (WRs) are increasingly used in rehabilitation and augmentation.
  • Predicting user interaction with novel WR mechanical designs is challenging.
  • Energy efficiency in WRs necessitates exploring new mechanical structures.

Purpose of the Study:

  • To demonstrate the feasibility of rendering mechanical properties of potential WR designs using the LOPES robotic gait trainer.
  • To introduce a novel method for simulating WR dynamics by canceling LOPES dynamics and adding WR dynamics.
  • To evaluate different WR designs virtually, avoiding the need for multiple prototypes.

Main Methods:

  • Utilized the LOPES robotic gait training device.
  • Developed a method using two parallel inverse models to cancel LOPES dynamics and add simulated WR dynamics.

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  • Employed adaptive frequency oscillators for estimating joint position, velocity, and acceleration.
  • Simulated a simple WR with an ankle-mounted mass as a proof of principle.

    • Main Results:

    • Partially achieved cancellation of LOPES dynamics.
    • Simulated ankle mass increased muscle activity, though less than carrying a physical mass.
    • Demonstrated the potential for virtual evaluation of WR mechanical properties.

    Conclusions:

    • The LOPES system can effectively render different wearable robot (WR) mechanical properties.
    • Virtual simulation of WRs using LOPES is feasible and reduces prototyping needs.
    • Optimizing velocity and acceleration estimations can further enhance simulation accuracy.