Modeling Bilateral Hip-Knee-Ankle Exoskeleton Assistance

Here is software developed for Stanford's ME 485 course. The files here have been adapted for modeling hip-knee-ankle exoskeleton assistance during walking using ideal torque actuators. It is currently implemented to optimize to reduce activations-squared. Metabolic cost can then be calculated from the results of the optimization. This project utilizes the optimal muscle control framework from De Groote et al 2016: https://simtk.org/projects/optcntrlmuscle which in turn utilizes GPOPS-II optimal control software and adigator. Experimental data and some software adapted from https://github.com/nickbianco/soft-exosuit-design. The model was adapted from Ong et al. 2017 (check confluence page below for full references). More information on this project can be found at:https://simtk-confluence.stanford.edu/display/OpenSim/Modeling+Bilateral+Hip-Knee-Ankle+Exoskeleton+Assistance. <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=1528#pack_2009">hka_exo_optctrl </a> : Software for simulation of a hip-knee-ankle exoskeleton </li> </ul>

此数据集收录了为斯坦福大学ME 485课程开发的软件。其中文件已适配用于模拟步行过程中髋膝踝外骨骼助力，并采用理想扭矩执行器。当前实现旨在优化以降低激活平方值。根据优化结果，可计算代谢成本。本项目采用De Groote等人在2016年提出的最佳肌肉控制框架（https://simtk.org/projects/optcntrlmuscle），该框架又利用了GPOPS-II最佳控制软件和Adigator。实验数据及部分软件改编自https://github.com/nickbianco/soft-exosuit-design。模型改编自Ong等人在2017年的研究（完整参考文献请见以下confluence页面）。关于本项目的更多详细信息，请访问：https://simtk-confluence.stanford.edu/display/OpenSim/Modeling+Bilateral+Hip-Knee-Ankle+Exoskeleton+Assistance。本项目包含以下软件/数据包：

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<li><a href="https://simtk.org/frs?group_id=1528#pack_2009">hka_exo_optctrl</a> : 用于髋膝踝外骨骼模拟的软件</li>
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