Prosthesis-User-in-the-Loop: A user-specific biomechanical modeling and simulation environment

Abstract

In this paper, a novel biomechanical modeling and simulation environment with an emphasis on user-specific customization is presented. A modular modeling approach for multi-body systems allows a flexible extension by specific biomechanical modeling elements and enables an efficient application in dynamic simulation and optimization problems. A functional distribution of model description and model parameter data in combination with standardized interfaces enables a simple and reliable replacement or modification of specific functional components. The user-specific customization comprises the identification of anthropometric model parameters as well as the generation of a virtual three-dimensional character. The modeling and simulation environment is associated with Prosthesis-User-in-the-Loop, a hardware simulator concept for the design and optimization of lower limb prosthetic devices based on user experience and assessment. For a demonstration of the flexibility and capability of the modeling and simulation environment, an exemplary application in context of the hardware simulator is given.

User-Centered Prosthetic Development: Comprehension of Amputees’ Needs

“…UCD can imp the amputees' needs into the prosthesis' properties In this paper, items of a newly developed questionnaire presented with the focus on transfemoral prosthetic users and their satisfaction in daily living. A correlation matrix may demonstrate the acceptance of dissatisfaction extent and the Prosthesis-User-in-the-Loop simulator co cept [12,13] may give ideas to overcome the issues related to non user centered development in the design of a reh bilitation process in lower limb amputees.…”

Prosthesis-user-in-the-loop: User-centered design parameters and visual simulation

“…The latter will be achieved by biomechanical multi-body simulations using the object-oriented class library MBSLIB presented in [20]. By obtaining joint trajectories from a biomechanical forward kinematic simulation, the motion of the virtual character and the participant can be adjusted and synchronized.…”

Conception and Design of a Hardware Simulator for Restoring Lost Biomechanical Function

“…The system is controlled based on simulations of gait and the prosthesis using software models and the acquired sensor data. The models represent the dynamic behaviour of the prosthesis as well as the gait chracteristics of the participant as in [16]. In order to investigate different types of prostheses, the models in the real time control system can be changed.…”

“…In an iterative process, the masses and inertias are estimated by simulations assuming rigid geometric bodies and using the data sheets of the actuators that are subsequently selected to cover the operational space and the powers required by the trajectories taken from [16], [21]. As the model in [16] uses a coordinate system fixed to the hip of the participant, hip motions are not considered and thus results might slightly differ from the real motion. The mass m 2 equals the sum of m 21 and m 22 representing the masses of the components of third joint and scissor lift table.…”

“…This rigid hybrid parallel-serial robot is designed to be applied in gait rehabilitation. Beyond those, the Prosthesis-User-inthe-Loop simulator concept presented in [15], [16] aims at closing the gap in user-centred prosthetic design by a holistic simulation of gait with the investigated prosthesis for the participant.…”