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Human-exoskeleton control simulation, kinetic and kinematic modeling and parameters extraction.

Maryam Khamar1, Mehdi Edrisi1, Mohsen Zahiri1

  • 1Electrical Dept., Faculty of Engineering, University of Isfahan, Isfahan, Iran.

Methodsx
|September 12, 2019
PubMed
Summary

This study presents a simulation-based method for designing and analyzing exoskeletons. This approach integrates human movement data to optimize exoskeleton parameters for improved rehabilitation and muscle-skeleton interaction.

Keywords:
ExoskeletonHuman-exoskeleton system modeling and parameters extractionOpenSim-Matlab interfaceParameter identification

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Area of Science:

  • Robotics
  • Biomechanics
  • Rehabilitation Engineering

Background:

  • Exoskeletons require careful design considering human-robot interaction.
  • Optimizing exoskeleton parameters and understanding their effect on human biomechanics is challenging.
  • Numerical simulations are crucial for addressing these design and analysis challenges.

Purpose of the Study:

  • To present a simulation-based method for designing and analyzing exoskeleton parameters.
  • To integrate individual subject movement data for personalized exoskeleton design.
  • To analyze the impact of exoskeleton parameters on wearer's kinetics, kinematics, and muscle behavior.

Main Methods:

  • Integration of model-based design software (OpenSim, Inventor) and mathematical software (MATLAB).
  • Utilizing individual subject movement parameters for exoskeleton design.
  • Simulating the effects of exoskeleton parameters on muscle-skeleton dynamics.

Main Results:

  • A simulation-based method for exoskeleton design and analysis was developed.
  • The method allows for the consideration of individual subject movement parameters.
  • The approach facilitates the analysis of exoskeleton effects on muscle-skeleton movements.

Conclusions:

  • Simulation-based methods are vital for exoskeleton design and analysis.
  • This integrated approach can improve exoskeleton effectiveness in rehabilitation.
  • The method supports physiologists, neuroscientists, and physical therapists in developing new exoskeleton-based solutions.