Augmented Modeling of a Lower Limb Assistant Robot and Human Body

Moosavian, S. Ali A.; Mohamadi, Mohamad Reza; Absalan, Farshid

doi:10.1109/icrom.2018.8657541

Cited by 7 publications

(2 citation statements)

References 13 publications

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“…The virtual representation of the WAD is also present in the simulation environment, but the connection with the model is supplemented by additional degrees of freedom (Figure 3.3) ( To et al, 2005 ; Zhou et al, 2017 ; Panero et al, 2020 ). Thereby, translation and rotation of the device to the human model is possible, the execution depends on the studied use case ( Arch et al, 2016 ; Moosavian et al, 2018 ; Fritzsche et al, 2022 ). The connection is done via kinematic constraints ( To et al, 2005 ; Panero et al, 2019 ; Liu et al, 2021 ) or defined joints (e.g., in OpenSim via FreeJoint or CustomJoint) ( Zhu et al, 2013 ; Zhou et al, 2015 ; Arch et al, 2016 ).…”

Section: Resultsmentioning

confidence: 99%

Modelling the interaction between wearable assistive devices and digital human models—A systematic review

Scherb

Wartzack

Miehling

2023

Front. Bioeng. Biotechnol.

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Exoskeletons, orthoses, exosuits, assisting robots and such devices referred to as wearable assistive devices are devices designed to augment or protect the human body by applying and transmitting force. Due to the problems concerning cost- and time-consuming user tests, in addition to the possibility to test different configurations of a device, the avoidance of a prototype and many more advantages, digital human models become more and more popular for evaluating the effects of wearable assistive devices on humans. The key indicator for the efficiency of assistance is the interface between device and human, consisting mainly of the soft biological tissue. However, the soft biological tissue is mostly missing in digital human models due to their rigid body dynamics. Therefore, this systematic review aims to identify interaction modelling approaches between wearable assistive devices and digital human models and especially to study how the soft biological tissue is considered in the simulation. The review revealed four interaction modelling approaches, which differ in their accuracy to recreate the occurring interactions in reality. Furthermore, within these approaches there are some incorporating the appearing relative motion between device and human body due to the soft biological tissue in the simulation. The influence of the soft biological tissue on the force transmission due to energy absorption on the other side is not considered in any publication yet. Therefore, the development of an approach to integrate the viscoelastic behaviour of soft biological tissue in the digital human models could improve the design of the wearable assistive devices and thus increase its efficiency and efficacy.

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Section: Resultsmentioning

confidence: 99%

Modelling the interaction between wearable assistive devices and digital human models—A systematic review

Scherb

Wartzack

Miehling

2023

Front. Bioeng. Biotechnol.

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“…This paper introduces new results along with the author's previous works [37,38,39], wherein [37] a conceptual design of the robot was added to a skeletal Opensim model and some preliminary simulations and tests were performed. The works presented in [38,39] dealt with the modelling and performance analysis of the first and second generation of RoboWalk exoskeleton.…”

Section: Design Optimizationmentioning

confidence: 99%

RoboWalk: augmented human-robot mathematical modelling for design optimization

Moosavian

Nabipour

Absalan

et al. 2021

Mathematical and Computer Modelling of Dynamical Systems

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Utilizing exoskeleton devices to help elderly or empower workers is a growing field of research in robotics. The structure of an exoskeleton can vary depending on user's physical dimensions, joints or muscles targeted for assistance, and maximum achievable actuator torque. In this research, a Human-Model-In-the-Loop (HMIL) constrained optimization technique is proposed to design the RoboWalk lower-limb exoskeleton. RoboWalk is an under-actuated non-anthropomorphic assistive robot, that besides applying the desired assistive force, exerts an undesirable disturbing force leading to the user's fall. The HMIL method uses the augmented human-robot 2D model to take RoboWalk and human body's joint torques into account during optimization. The superiority of HMIL method is proven by comparing the results with other strategies in the literature. Obtained results reveal elimination of the disturbing forces, 2 N.m. reduction in average human knee-joint torque, and significant decrease in the actuator required torque.

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Human model in the loop design optimization for RoboWalk wearable device

Nabipour

Moosavian

2021

J Mech Sci Technol

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Augmented Modeling of a Lower Limb Assistant Robot and Human Body

Cited by 7 publications

References 13 publications

Modelling the interaction between wearable assistive devices and digital human models—A systematic review

Modelling the interaction between wearable assistive devices and digital human models—A systematic review

RoboWalk: augmented human-robot mathematical modelling for design optimization

Human model in the loop design optimization for RoboWalk wearable device

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