Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton

Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Cevik, Suleyman Can; Ünal, Ramazan; Bebek, Özkan; Uğurlu, Barkan

doi:10.1109/icps51978.2022.9816855

2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS) 2022

DOI: 10.1109/icps51978.2022.9816855

|View full text |Cite

Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton

Mustafa Derman

Ahmed Fahmy Soliman

Alihan Kuru

et al.

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2024

Publication Types

Select...

Article1

Relationship

Self Cite0

Independent1

Authors

Journals

Cited by 1 publication

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

Yao,

Mir Latifi,

Molz

et al. 2024

Robotics

View full text Add to dashboard Cite

Simulation models are a valuable tool for exoskeleton development, especially for system optimization and evaluation. It allows an assessment of the performance and effectiveness of exoskeletons even at an early stage of their development without physical realization. Due to the closed physical interaction between the exoskeleton and the user, accurate modeling of the human–exoskeleton interaction in defined scenarios is essential for exoskeleton simulations. This paper presents a novel approach to simulate exoskeleton motion in response to human motion and the interaction forces at the physical interfaces between the human and the exoskeleton. Our approach uses a multibody model of a shoulder exoskeleton in MATLAB R2021b and imports human motion via virtual markers from a digital human model to simulate human–exoskeleton interaction. To validate the human-motion-based approach, simulated exoskeleton motion and interaction forces are compared with experimental data from a previous lab study. The results demonstrate the feasibility of our approach to simulate human–exoskeleton interaction based on human motion. In addition, the approach is used to optimize the support profile of an exoskeleton, indicating its potential to assist exoskeleton development prior to physical prototyping.

show abstract

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

Yao,

Mir Latifi,

Molz

et al. 2024

Robotics

View full text Add to dashboard Cite

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

hi@scite.ai

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton

Cited by 1 publication

References 23 publications

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

Contact Info

Product

Resources

About