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

Frontiers in Robotics and AI

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