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An Integrated Dynamic Closed Loop Simulation Platform for Elbow Flexion Augmentation Using an Upper Limb Exosuit

Ratna Sambhav1, Shreeshan Jena1, Ankit Chatterjee2

  • 1Department of Applied Mechanics, Indian Institute of Technology Delhi, New Delhi, India.

Frontiers in Robotics and AI
|April 4, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a human-machine interaction simulation platform to analyze soft-robotic wearables. The platform demonstrated reduced joint moments, muscle activations, and metabolic costs during load lifting tasks.

Keywords:
assistive deviceexosuithuman in-loop biomechanicshuman-machine interactionmusculoskeletal simulationsymbiotic biomechanics

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Area of Science:

  • Biomechanics
  • Robotics
  • Human-Machine Interaction

Background:

  • Wearable robotic devices aim to augment human muscle performance.
  • Understanding human-robot biomechanical interactions is crucial for device design and optimization.
  • Soft-robotic wearables present unique challenges and opportunities in human physiology augmentation.

Purpose of the Study:

  • To develop a simulation platform for closed-loop dynamic analysis of human-wearable robotic device interaction.
  • To investigate the physiological effects of soft-robotic wearables using a novel simulation framework.
  • To enable the incorporation of advanced control strategies for wearable devices.

Main Methods:

  • Developed a human-machine interaction simulation platform using MATLAB-OpenSim interface.
  • Integrated the Computed Muscle Control (CMC) algorithm for dynamic analysis.
  • Implemented a Gravity Compensation (GC) controller for a soft-robotic wearable device.

Main Results:

  • The simulation platform successfully analyzed the closed-loop dynamics between human and wearable device.
  • Demonstrated significant decreases in joint moments, muscle activations, and metabolic costs during load lifting.
  • The effects were observed across two different task speeds, indicating controller efficacy.

Conclusions:

  • The developed simulation platform provides a robust framework for evaluating wearable robotic devices.
  • Soft-robotic wearables, when controlled effectively, can reduce physiological load during repetitive tasks.
  • The generic nature of the framework allows for future integration of diverse control strategies and devices.