Simulation of Coupled Arm-Robot Motion to Design Rehabilitation Interventions

This project contains custom Matlab code, experimental robot motor torque and angle data, and OpenSim models of a rehabilitation robot and coupled arm-robot model. The rehabilitation robot used in this study was developed by Kinarm Corporation (Kingston, Ontario, Canada), while the upper extremity model used was developed by Saul et al. (2015) and is available on Simtk.org (https://simtk.org/projects/upexdyn). The study seeks to verify and validate whether the OpenSim models are able to reproduce experimental measurements made with the robot under four conditions: 1) active robot, no arm, 2) active robot, passive arm, 3) passive robot, active arm, and 4) active robot, active arm. <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=2174#pack_2257">Models, Code, and Data </a> </li> </ul>

本项研究包含定制化的 Matlab 代码、实验性机器人电机扭矩与角度数据，以及康复机器人和耦合臂-机器人模型的 OpenSim 模型。本研究中使用的康复机器人由 Kinarm 公司（加拿大安大略省金斯顿）开发，而上肢模型则由 Saul 等人（2015年）开发，并可于 Simtk.org（https://simtk.org/projects/upexdyn）上获取。研究旨在验证并核实 OpenSim 模型能否再现机器人实验测量结果，该实验在以下四种条件下进行：1）主动机器人，无臂；2）主动机器人，被动臂；3）被动机器人，主动臂；4）主动机器人，主动臂。本项目中包含以下软件/数据包：

<ul>
<li><a href="https://simtk.org/frs?group_id=2174#pack_2257">模型、代码与数据</a></li>
</ul>