Predictive human-in-the-loop simulations for assistive exoskeletons

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Design and evaluation of exoskeletons is often a time consuming and costly process that involves prototyping, human testing, and multiple design iterations. For active exoskeletons, the primary challenge is to detect the wearer’s movement intent and provide potent assistance, which often requires sophisticated control algorithms. The goal of this study is to integrate human musculoskeletal models with robot modeling and control for virtual human-in-the-loop evaluation of exoskeleton design and control. We present potential strategies for assisting various human motions such as squatting, lifting, walking, and running. Several exoskeleton designs (for back, upper extremity, and lower extremity) and their control methods are evaluated with an integrated human-in-the-loop simulation approach to study their functionalities and biomechanical effects on the wearer’ musculoskeletal system. We hope this simulation paradigm can be utilized for virtual design and evaluation of exoskeletons and pave the way to build or optimize exoskeletons.

Original languageEnglish (US)
Title of host publication40th Computers and Information in Engineering Conference (CIE)
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791883983
DOIs
StatePublished - 2020
EventASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020 - Virtual, Online
Duration: Aug 17 2020Aug 19 2020

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume9

Conference

ConferenceASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020
CityVirtual, Online
Period8/17/208/19/20

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Keywords

  • Head supported mass
  • Musculoskeletal model
  • Neck
  • Running
  • Walking

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