Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton

Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Cevik, Suleyman Can; Ünal, Ramazan; Bebek, Özkan; Uğurlu, Barkan

doi:10.1109/icps51978.2022.9816855

Cited by 1 publication

(1 citation statement)

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“…Simplified 2D planar human models with rigid segments are often constructed for the dynamic simulation of the lower extremity [14,15]. Most approaches in this group build a 3D kinematic human model with rigid segments and couple it to the exoskeleton multibody model [16][17][18][19][20]. To reduce computational costs, these human models mostly use simplified kinematics and have a limited ability to mimic real human motions.…”

Section: Introductionmentioning

confidence: 99%

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

Yao,

Mir Latifi,

Molz

et al. 2024

Robotics

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Simulation models are a valuable tool for exoskeleton development, especially for system optimization and evaluation. It allows an assessment of the performance and effectiveness of exoskeletons even at an early stage of their development without physical realization. Due to the closed physical interaction between the exoskeleton and the user, accurate modeling of the human–exoskeleton interaction in defined scenarios is essential for exoskeleton simulations. This paper presents a novel approach to simulate exoskeleton motion in response to human motion and the interaction forces at the physical interfaces between the human and the exoskeleton. Our approach uses a multibody model of a shoulder exoskeleton in MATLAB R2021b and imports human motion via virtual markers from a digital human model to simulate human–exoskeleton interaction. To validate the human-motion-based approach, simulated exoskeleton motion and interaction forces are compared with experimental data from a previous lab study. The results demonstrate the feasibility of our approach to simulate human–exoskeleton interaction based on human motion. In addition, the approach is used to optimize the support profile of an exoskeleton, indicating its potential to assist exoskeleton development prior to physical prototyping.

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