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 the external device and the resulting decrease in the physiological torques, muscle activations and metabolic costs during a simple load lifting task with two different speeds is investigated.

Quantitative analysis and control of the torque profile of the upper limb using a kinetic model and motion measurements

“…Many researchers have focused on developing control strategies for an upper limb exoskeleton in order to perform a smooth trajectory. 7,12,19,20 Torque-based controllers for upper limb exoskeleton have been used, 21,22 where the torque trajectory was obtained based on joint position, while Lu et al 15 proposed a torque control strategy based on an sEMG. However, the position and velocity have been used as control parameters for the upper exoskeleton, which might compromise the efficiency of the actuated unit in the exoskeleton.…”

“…However, the position and velocity have been used as control parameters for the upper exoskeleton, which might compromise the efficiency of the actuated unit in the exoskeleton. 19,20,23 An important element in any exoskeleton system is the feedback sensor which is used to feed information to the control system of the exoskeleton in order to elicit motion harmony between the upper limb and the attached exoskeleton. An IMU was used to acquire information regarding arm movement of the exoskeleton’s user and to use this information as feedback signals in the control loop to improve the response of the exoskeleton.…”