Frontiers in Robotics and AI | |
An Integrated Dynamic Closed Loop Simulation Platform for Elbow Flexion Augmentation Using an Upper Limb Exosuit Model | |
Ratna Sambhav1  Sushma Santapuri1  Shreeshan Jena1  Sitikantha Roy1  Shubhendu Bhasin2  Lalan Kumar2  Ankit Chatterjee2  Suriya Prakash Muthukrishnan3  | |
[1] Department of Applied Mechanics, Indian Institute of Technology Delhi, New Delhi, India;Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, India;Department of Physiology, All India Institute of Medical Sciences, New Delhi, India; | |
关键词: exosuit; human in-loop biomechanics; human-machine interaction; musculoskeletal simulation; assistive device; symbiotic biomechanics; | |
DOI : 10.3389/frobt.2022.768841 | |
来源: DOAJ |
【 摘 要 】
Wearable robotic devices are designed to assist, enhance or restore human muscle performance. Understanding how a wearable robotic device changes human biomechanics through complex interaction is important to guide its proper design, parametric optimization and functional success. The present work develops a human-machine-interaction simulation platform for closed loop dynamic analysis with feedback control and to study the effect of soft-robotic wearables on human physiology. The proposed simulation platform incorporates Computed Muscle Control (CMC) algorithm and is implemented using the MATLAB -OpenSim interface. The framework is generic and will allow incorporation of any advanced control strategy for the wearable devices. As a demonstration, a Gravity Compensation (GC) controller has been implemented on the wearable device and the resulting decrease in the joint moments, muscle activations and metabolic costs during a simple repetitive load lifting task with two different speeds is investigated.
【 授权许可】
Unknown