Simulating Physiological Discomfort of Exoskeletons Using Musculoskeletal Modelling

Shourijeh, Mohammad S.; Jung, Moonki; Ko, Siu-Teing; Mcgrath, Michael; Stech, Nadine; Damsgaard, Michael

doi:10.1016/j.gaitpost.2017.06.301

Cited by 4 publications

(3 citation statements)

References 2 publications

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“…This can be done by analyzing, for example, the metabolic cost, individual and overall muscle activations, or joint reaction forces (Bae, 2013 ; Zhou et al, 2017 ; Knott and Bengler, 2018 ; Tröster et al, 2018 ; Gull et al, 2020 ; Ralfs et al, 2021 ; Zheng et al, 2021 ). Furthermore, the comfort level can be estimated by analyzing the forces acting directly on the user (Shao et al, 2014 ; Shourijeh et al, 2017 ). Lastly, only field studies and long-term studies will show the exoskeletons’ effects on the users – the reduction of musculoskeletal diseases and avoidance of non-intended use.…”

Section: Development Of the Frameworkmentioning

confidence: 99%

Exoskeletons: A challenge for development

2023

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The development of exoskeletons is currently a lengthy process full of challenges. We are proposing a framework to accelerate the process and make the resulting exoskeletons more user-centered. The needed accomplishments in science are described in an effort to lay the foundation for future research projects. Since the early 2000s, exoskeletons have been discussed as an emerging technology in industrial, medical, or military applications. Those systems are designed to support people during manual tasks. At first, those systems lacked broad acceptance. Many models found their niches in ongoing developments and more diverse systems entering the market. There are still applications that are in dire need of such assistance. Due to the lack of experience with body-worn robotics, the development of such systems has been shaped by trial and error. The lack of legacy products results in longer development times. In this paper, a process to generate a framework is presented to display the required research to enable future exoskeleton designers. Owing to their proximity to the user’s body, exoskeletons are highly complex systems that need sophisticated subsystems, such as kinematic, control, interaction design, or actuators, to be accepted by users. Due to the wide variety of fields and high user demands, a synchronized multidisciplinary effort is necessary. To achieve this, a process to develop a modular framework for exoskeleton design is proposed. It focuses on user- and use-case-centered solutions for matching kinematics, actuation, and control. To ensure the usefulness of the framework, an evaluation of the incorporated solutions is required.

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Section: Development Of the Frameworkmentioning

confidence: 99%

Exoskeletons: A challenge for development

2023

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“…A comparative analysis of the reaction law of the object on the human body was performed by varying the weight of the object. Studies have used simulation software to output the joint torques of exoskeletons and evaluate joint activity control performance [16][17][18][19][20][21][22][23][24][25]. Priyanshu et al designed a virtual prototype set-up of a rehabilitation exoskeleton by merging computational musculoskeletal analysis and AnyBody simulation technology [16].…”

Section: Introductionmentioning

confidence: 99%

Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Chen

Zhang

et al. 2023

Applied Sciences

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Lower limb-powered exoskeletons can help rehabilitate patients with lower limb disabilities. However, the changes in the biomechanical load on the human body when exoskeletons are used are still poorly understood. The goal of this study was to investigate the changes in kinematic and biomechanical parameters of the lower extremity exoskeleton when worn by normal subjects and patients with unilateral motor impairment using a virtual prototype. The effect of wearing the exoskeleton on gait was derived, and the basis for exoskeleton optimization was given. Virtual prototyping is a cost-effective method to validate the performance of exoskeleton robots. Therefore, two models, a human-exoskeleton model and an asymmetric movement disorder (SSP) subject-exoskeleton model, were developed in AnyBody software for this study. The human-exoskeleton model was driven by the kinematic data of 20 healthy participants walking in an exoskeleton at normal speed (3.6 km/h). As a comparison, the SSP subject-exoskeleton model was driven by data from five SSP subjects walking in an exoskeleton. The experimental results show that after wearing the lower limb exoskeleton, the walking gait satisfies the normal human gait characteristics, but some of the muscle forces suddenly increase. The maximum activation level does not exceed 1, which means that the exoskeleton does not cause muscle damage or fatigue in a short period of time. In both models, the vertical ground reaction force (GRF) Z correlation was the strongest (R > 0.90). The center of pressure (COP) X trajectory correlation was the weakest (R < 0.35). These findings will support the study of the effects of exoskeletal optimization. Also, some gait characteristics of exoskeletons worn by patients with unilateral dyskinesia can be initially explored.

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“…A few authors have estimated a LEPE user's required joint torque and user-LEPE interaction forces in different activities using a musculoskeletal model (MSM) [17], [18]. Several authors have simulated massless LEPEs to determine optimal design parameters, such as series or parallel spring stiffness at certain joints, for various daily activities [19]- [22]. Other simulation studies have focused on partial-assist devices and muscle activity reduction [23].…”

Section: Introductionmentioning

confidence: 99%

Weight Distribution of a Knee Exoskeleton Influences Muscle Activities During Movements

et al. 2021

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Lower extremity powered exoskeletons help people with movement disorders to perform daily activities and are used increasingly in gait retraining and rehabilitation. Studies of powered exoskeletons often focus on technological aspects such as actuators, control methods, energy and effects on gait. Limited research has been conducted on how different mechanical design parameters can affect the user. In this paper, we study the effects of weight distributions of knee exoskeleton components on simulated muscle activities during three functional movements. Four knee exoskeleton CAD models were developed based on actual motor and gear reducer products. Different placements of the motor and gearbox resulted in different weight distributions. One unilateral knee exoskeleton prototype was fabricated and tested on 5 healthy subjects. Simulation results were compared to observed electromyography signals. Muscle activities varied among weight distributions and movements, wherein no one physical design was optimal for all movements. We describe how a powered exoskeleton's core components can be expected to affect a user's ability and performance. Exoskeleton physical design should ideally take the user's activity goals and ability into consideration.

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Simulating Physiological Discomfort of Exoskeletons Using Musculoskeletal Modelling

Cited by 4 publications

References 2 publications

Exoskeletons: A challenge for development

Exoskeletons: A challenge for development

Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Weight Distribution of a Knee Exoskeleton Influences Muscle Activities During Movements

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