2021
DOI: 10.36227/techrxiv.14957274.v1
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An Integrated Dynamic Simulation Platform for Assistive Human-Robot Interaction: Application to Upper Limb Exosuit

Abstract: Soft exosuits are wearable robotic devices that assist or enhance the human muscle performance. A human machine interface simulation platform based on MATLAB-OpenSim interface is developed in this paper for closed loop dynamic simulation with feedback control strategy and to study its effect on human physiology. The proposed simulation model is based on Computed Muscle Control (CMC) algorithm and is implemented using the MATLAB -OpenSim interface. A Gravity Compensation (GC) controller has been implemented on … Show more

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