This study describes a method for performing transient finite element analysis (FEA) of an assistive device using experimental parameters obtained from gait analysis. A subject displaying pathologic gait, owing to lower limb deformity, was chosen for gait study. Using CAD tools, a remedial orthotic device was designed, which is expected to improve the gait of the subject. The orthotic model was subjected to static and transient loading conditions obtained from gait study, using an FEA tool. The stress ‘hot’ zones between the two modes of analysis are studied. In addition, the experimental gait data of a healthy control group were recorded to perform univariate regression studies for predicting the peak values of the normal forces, and validated by comparing with those available in the literature. The values thus obtained may be used for static behavioral analysis of assistive devices. From the FEA results, it can be conclusively said that the orthotic model is capable of sustaining gait cycle loading. The regression studies suggest the possibility of using anthropometric data to predict gait forces and subsequently perform static and transient loading analysis of assistive devices.
Wearable robotic devices are designed to assist, enhance or restore human muscle performance. Understanding how a wearable robotic device changes human biomechanics through complex interaction is important to guide its proper design, parametric optimization and functional success. The present work develops a human-machine-interaction simulation platform for closed loop dynamic analysis with feedback control and to study the effect of soft-robotic wearables on human physiology. The proposed simulation platform incorporates Computed Muscle Control (CMC) algorithm and is implemented using the MATLAB -OpenSim interface. The framework is generic and will allow incorporation of any advanced control strategy for the wearable devices. As a demonstration, a Gravity Compensation (GC) controller has been implemented on the wearable device and the resulting decrease in the joint moments, muscle activations and metabolic costs during a simple repetitive load lifting task with two different speeds is investigated.
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