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Design Consideration01:22

Design Consideration

185
Designing a structure involves a series of considerations, primarily the material's ultimate strength, calculated through tests that measure changes under increased force until the material reaches its breaking point or limit. The ultimate load, where the material breaks, is divided by its original cross-sectional area, resulting in the ultimate normal stress or strength. The ultimate shearing stress is another significant factor taken into account.
The factor of safety is another key...
185
Indeterminate Structure01:18

Indeterminate Structure

530
Indeterminate structures refer to structures where internal forces and reactions cannot be determined using only the equations of static equilibrium.  Indeterminate structures have more unknown forces and reaction forces than equations of static equilibrium that can be used to determine them. Indeterminate structures are often used in engineering to create complex, efficient, and aesthetically pleasing structures. There are various types of indeterminate structures used in engineering and...
530
Mechanistic Models: Compartment Models in Algorithms for Numerical Problem Solving01:29

Mechanistic Models: Compartment Models in Algorithms for Numerical Problem Solving

48
Mechanistic models play a crucial role in algorithms for numerical problem-solving, particularly in nonlinear mixed effects modeling (NMEM). These models aim to minimize specific objective functions by evaluating various parameter estimates, leading to the development of systematic algorithms. In some cases, linearization techniques approximate the model using linear equations.
In individual population analyses, different algorithms are employed, such as Cauchy's method, which uses a...
48
Impact Loading01:19

Impact Loading

196
Impact loading occurs when a moving object collides with a stationary structure, such as a rod with a uniform cross-sectional area fixed at one end. Under these conditions, the rod absorbs the kinetic energy from the striking object, leading to deformation and subsequent stress development. As the rod returns to its original position and reaches maximum stress, the absorbed energy, initially manifested as kinetic energy, transforms entirely into strain energy.
In cases of elastic deformation,...
196
Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

163
When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
163

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Related Experiment Video

Updated: Jun 24, 2025

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
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Rethinking Exoskeleton Simulation-Based Design: The Effect of Using Different Cost Functions.

Barak Ostraich, Raziel Riemer

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |June 4, 2024
    PubMed
    Summary

    Simulation-based design for passive knee exoskeletons requires advanced methods. Standard trajectory tracking hinders gait adaptation, but a multi-objective approach improves simulation accuracy and identifies optimal designs for metabolic energy savings.

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    Area of Science:

    • Biomechanics and Robotics
    • Human-Machine Interaction
    • Exoskeleton Design and Simulation

    Background:

    • Exoskeleton design often relies on experimental methods, which are time-consuming and costly.
    • Simulation-based design offers a promising alternative for optimizing exoskeleton parameters.
    • Existing simulation methods often use full trajectory tracking, which may not accurately reflect gait adaptation with exoskeletons.

    Purpose of the Study:

    • To investigate the differences between full trajectory tracking and multi-objective optimization for simulating running with a passive knee exoskeleton.
    • To develop and validate a novel multi-objective cost function for improved gait simulation accuracy.
    • To identify optimal design parameters for a passive knee exoskeleton to maximize metabolic energy savings.

    Main Methods:

    • Utilized a 2D OpenSim model with 10 degrees of freedom and 18 muscles, coupled with the Moco optimization tool.
    • Tested the impact of varying weights in a full trajectory tracking objective function.
    • Developed a multi-objective cost function incorporating a foot clearance term based on peak knee angle during swing.

    Main Results:

    • Full trajectory tracking, even with low weights, prevented significant gait adaptation in simulations.
    • The novel multi-objective cost function achieved simulated gait trajectories similar to experimental data (RMSE=7.4 deg).
    • A passive knee exoskeleton design with a 2.5 Nm/deg spring demonstrated up to an 8% improvement in net metabolic energy.

    Conclusions:

    • Standard trajectory tracking objectives in cost functions limit the simulation's ability to predict gait adaptation with exoskeletons.
    • Multi-objective optimization provides a more effective approach for simulating exoskeleton-assisted locomotion and identifying optimal designs.
    • Predictive simulation methods beyond simple trajectory tracking are necessary for advancing exoskeleton development.