A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons

作者：Agarwal Priyanshu; Neptune Richard R; Deshpande Ashish D^*

来源：Journal of Biomechanical Engineering, 2016, 138(6): 061004.

DOI：10.1115/1.4033177

A number of robotic exoskeletons are being developed to provide rehabilitation interventions for those with movement disabilities. We present a systematic framework that allows for virtual prototyping (i.e., design, control, and experimentation (i.e. design, control, and experimentation) of robotic exoskeletons. The framework merges computational musculoskeletal analyses with simulation-based design techniques which allows for exoskeleton design and control algorithm optimization. We introduce biomechanical, morphological, and controller measures to optimize the exoskeleton performance. A major advantage of the framework is that it provides a platform for carrying out hypothesis-driven virtual experiments to quantify device performance and rehabilitation progress. To illustrate the efficacy of the framework, we present a case study wherein the design and analysis of an index finger exoskeleton is carried out using the proposed framework.

• 出版日期2016-6