A human-centered design optimization approach for robotic exoskeletons through biomechanical simulation

Zhou, Lelai; Li, Yibin; Bai, Shaoping

doi:10.1016/j.robot.2016.12.012

Cited by 74 publications

(52 citation statements)

References 19 publications

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“…Pay virtue of the modeling software, studies have been conducted to improve pHRI through human musculoskeletal modeling. For example, Zhou et al [145] proposed a user-centered design optimization technique for robotic exoskeleton via biomechanical simulation. In this study, a human musculoskeletal system was modeled as a multibody system.…”

Section: Exoskeleton Design Modelingmentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.

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Section: Exoskeleton Design Modelingmentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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“…Recently, it has been used to simulate human‐robot interactions 1,2 . The simulation results of human movements augmented by robotic devices may be used to evaluate and optimize device designs and controllers 3 . However, simulations are limited by the accuracy of the models which are usually simplified for computation efficiency.…”

Section: Introductionmentioning

confidence: 99%

Inclusion of actuator dynamics in simulations of assisted human movement

Nguyen

LaPrè

Price

et al. 2020

Numer Methods Biomed Eng

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Simulation of musculoskeletal systems using dynamic optimization is a powerful approach for studying the biomechanics of human movements and can be applied to human-robot interactions. The simulation results of human movements augmented by robotic devices may be used to evaluate and optimize the device design and controller. However, simulations are limited by the accuracy of the models which are usually simplified for computation efficiency. Typically, the powered robotic devices are often modeled as massless, ideal torque actuators that is without mass and internal dynamics, which may have significant impacts on the simulation results. This article investigates the effects of including the mass and internal dynamics of the device in simulations of assisted human movement. The device actuator was modeled in various ways with different detail levels. Dynamic optimization was used to find the muscle activations and actuator commands in motion tracking and predictive simulations. The results showed that while the effects of device mass and inertia can be small, the electrical dynamics of the motor can significantly impact the results. This outcome suggests the importance of using an accurate actuator model in simulations of human movement augmented by assistive devices. Novelty• Demonstrating the effects of including mass and internal dynamics of the actuator in simulations of assisted human movement • A new OpenSim electric motor actuator class to capture the electromechanical dynamics for use in simulation of human movement assisted by powered robotic devices

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“…Their model is presented in Figure 1 b, then, thanks to the respective considerations offered by the authors, the equation 2 of [22] indicates the resulting torque of the elbow. Similarly, in [23] optimized design parameters of an exoskeleton of the upper limbs in their research, seeking to obtain a correct biomechanical simulation, where they use a dynamic model, looking for their exoskeleton to assist the user when he holds something in his hands.…”

Section: Preliminary Considerations a Human Arm Movementmentioning

confidence: 99%

“…There are different mechanisms used for exoskeletons of the arm and forearm, always looking for that it is suitable for the application and meets the requirements of the connection including the kinetics of the human arm. So, it is in the case of [9], where its exoskeleton 5 DOF is attached to the arm and forearm, using a hinge-like articular system looking for movements in parallel with the exoskeleton. Similar to [10] who use in their investigation a non-portable exoskeleton for the analysis of electromyographic signals during the performance of muscular resistance exercises exerted by the exoskeleton.…”

Section: Introductionmentioning

confidence: 99%