Closed loop simulation of a human-exoskeleton and kinetic and kinematic modeling

As exoskeletons are used in human rehabilitation, there are many challenges in the development of exoskeletons in terms of the connection their structure to the human body. These challenges are affected by many factors such as interaction of the exoskeleton and the human body, and exoskeleton actuators way of assisting muscles. Moreover, every human has her/his own movement and force pattern; thus, how experimental data can be extracted from each human body is another challenging issue. This project attempts to tackle some of the challenges in developing an exoskeleton device using simulation methods and software. Simulation can help researchers to develop exoskeleton structures and can give them insight into how this device can help muscle movement. Therefore, a simulation based method is presented to design and analyze the parameters of an exoskeleton and its wearer’s kinetics and kinematics.The proposed method consists of four stages. In the first stage, the human model is edited to create a human-exoskeleton model. In the next stage, OpenSim is integrated with MATLAB in order to simulate the effect of exoskeletons on the human body. Considering the sole effect of an exoskeleton on each individual subject with his/her specific characteristics, stages three and four are conducted. In the third stage, the experimental data of a subject is produced by motion capture systems. The computed muscle control (CMC) tool of the OpenSim has been applied to obtain the muscle control values . In stage four, the closed loop simulation of a human-exoskeleton is performed using the results of the third stage. In addition, in this stage, the controller is implemented and simulated to obtain control parameters for the exoskeleton actuators. <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=1791#pack_2152">human-exoskeleton </a> </li> </ul>

随着外骨骼在人类康复领域的应用日益广泛，其结构与人体的连接问题成为外骨骼开发过程中的一大挑战。此类挑战受到诸多因素的影响，诸如外骨骼与人体之间的交互作用，以及外骨骼驱动器辅助肌肉的方式。此外，每个人均拥有其独特的运动和力量模式；因此，如何从每个个体身体中提取实验数据亦是一项极具挑战性的问题。本项目旨在通过模拟方法与软件，解决外骨骼设备开发过程中的一些挑战。模拟技术有助于研究人员开发外骨骼结构，并对其如何协助肌肉运动提供洞察。因此，一种基于模拟的设计与分析外骨骼及其穿戴者动力学和运动学参数的方法被提出。所提出的方法包括四个阶段。在第一阶段，对人类模型进行编辑以创建人-外骨骼模型。在下一阶段，将OpenSim与MATLAB集成，以模拟外骨骼对人体的影响。考虑到外骨骼对每个具有特定特征的个体单独作用的单一影响，第三阶段和第四阶段得以实施。在第三阶段，通过运动捕捉系统产生实验对象的实验数据。OpenSim的肌肉控制（CMC）工具已被应用于获取肌肉控制值。在第四阶段，利用第三阶段的结果执行人-外骨骼的闭环模拟。此外，在本阶段，控制器被实施并模拟，以获得外骨骼驱动器的控制参数。本项目涉及的软件/数据包包括：
<ul>
<li><a href="https://simtk.org/frs?group_id=1791#pack_2152">人-外骨骼</a></li>
</ul>