Simulation Analysis of Human-RoboWalk Augmented Model

Mohamadi, Mohamad Reza; Akbari, Vahid; Mahdizadeh, Omid; Nabipour, Mahdi; Moosavian, S. Ali A.

doi:10.1109/icrom48714.2019.9071874

Cited by 7 publications

(5 citation statements)

References 21 publications

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“…For implementation purposes, selecting a case study that retains the critical feature of the vector of Floor Reaction Forces (FRF) passing through the center of mass during human movement is important. Regarding this key feature, RoboWalk, a bipedal lower limb assistive exoskeleton with minimal actuators, stands out as a suitable case study [46], [47].…”

Section: Robowalk Descriptionmentioning

confidence: 99%

“…Furthermore, the interaction forces between the human foot and the ground are recorded. Due to the lack of required tools, the human model in Open sim software which is described in reference [46], is used to obtain the position and mass distribution data. In the position data, the angular position of the pelvis and the planar position of the pelvis and ankles of the human are given.…”

Section: Human Dynamics Modelingmentioning

confidence: 99%

“…To address this issue, the movement trajectory of the model is modified according to the natural human trajectory by referencing the pelvic path and defining the cost function based on the deviation of the model angles from the human and optimizing this cost function. The proposed method has been validated using multiple approaches, including the OpenSIM software [46].…”

Section: B Model Verificationmentioning

confidence: 99%

“…The aim of this study is to create a mathematical multi-body model for RoboWalk, a lowerlimb walking assistive robot developed in the Advanced Robotics and Automated Systems (ARAS) Laboratory [46]- [48] while taking into account user movements. Conventional nonrecursive analytical methods are unsuitable for estimating the state due to the highly nonlinear dynamics of both the human and RoboWalk.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Swift augmented human–robot dynamics modeling for rehabilitation planning analyses

Akbari,

Mahdizadeh,

Moosavian

et al. 2024

Multibody Syst Dyn

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With the widespread implementation of robotics exoskeletons in rehabilitation, modeling and dynamics analysis of such highly nonlinear coupled systems has become significantly important. In this paper, a swift numerical human-robot dynamics modeling has been developed to achieve accurate and realistic interpretation. This takes into consideration the separation and impact between multiple bodies for rehabilitation planning. To this end, first, a novel parallel algorithm combined with sequential interaction conditions is proposed based on the numerical Recursive Newton-Euler method. The approach begins by deriving separated numerical models for the complicated system: i.e. both the human and the robot. These models are then augmented, with a primary focus on reducing the error of the interaction conditions, including positions and forces. To evaluate the proposed model accuracy, the results are compared with a previously validated non-recursive analytical model. Additionally, the quality of the connection between the human and the robot is assessed to establish a suitable control objective and an effective interaction strategy for rehabilitation planning. The study employs a lower-limb walking assistive robot developed in the ARAS lab (RoboWalk) to validate the proposed method. The algorithm is empirically implemented on the RoboWalk test stand, ensuring the integrity of the proposed dynamics modeling. Finally, the effectiveness of the model-based controller is assessed by using the proposed method, providing valuable tools for the enhancement of overall performance of such a complex dynamics system.

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Section: Robowalk Descriptionmentioning

confidence: 99%

Section: Human Dynamics Modelingmentioning

confidence: 99%

Section: B Model Verificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Swift augmented human–robot dynamics modeling for rehabilitation planning analyses

Akbari,

Mahdizadeh,

Moosavian

et al. 2024

Multibody Syst Dyn

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“…After obtaining the kinematics relations of human model and RoboWalk, and possessing the gait data from Opensim [40] software, the inverse dynamics relations can be acquired. In order to obtain the human-RoboWalk integrated model, the HRI forces are assumed as external forces applied to the human model.…”

Section: Augmented Dynamics Modellingmentioning

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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