EllipsoidJoint: three rotational coordinates that are about X, Y, and Z of B in P with coupled translations such that B traces and ellipsoid centered at P.BallJoint: three rotational coordinates that are about X, Y, and Z of B in P.SliderJoint: one coordinate along the common X-axis of parent and child joint frames.PinJoint: one coordinate about the common Z-axis of parent and child joint frames.WeldJoint: introduces no coordinates (degrees of freedom) and fuses bodies together.A joint defines the kinematic relationship between two frames attached to a child body (B) and parent body (P).Īvailable joint types in OpenSim model are : In addition, in this stage, the controller is implemented and simulated to obtain control parameters for the exoskeleton actuators.Īfter adding the set of rigid exoskeleton bodies, the relationship between these bodies (i.e., joint definitions) should be defined. In stage four, the closed loop simulation of a human-exoskeleton is performed using the results of the third stage. The computed muscle control (CMC) tool of the OpenSim has been applied to obtain the muscle control values. In the third stage, the experimental data of a subject is produced by motion capture systems. Considering the sole effect of an exoskeleton on each individual subject with his/her specific characteristics, stages three and four are conducted. In the next stage, OpenSim is integrated with MATLAB in order to simulate the effect of exoskeletons on the human body. In the first stage, the human model is edited to create a human-exoskeleton model. The proposed method consists of four stages. Therefore, a simulation-based method is presented to design and analyze the parameters of an exoskeleton and its wearer’s kinetics and kinematics. Simulation can help researchers to develop exoskeleton structures and can give them insight into how this device can help muscle movement. This study attempts to tackle some of the challenges in developing an exoskeleton device using simulation methods and software. Moreover, every human has her/his own movement and force pattern thus, how experimental data can be extracted from each human body is another challenging issue. These challenges are affected by many factors such as interaction of the exoskeleton and the human body, and exoskeleton actuators way of assisting muscles. Considering the effect of exoskeleton parameters on each muscle-skeleton movement.Īs exoskeletons are used in human rehabilitation, there are many challenges in the development of exoskeletons in terms of the connection their structure to the human body.Combining the power of OpenSim body movement and the ability of Matlab in mathematical calculations.
Thus, their performances are influenced by many factors, including the selection of its structure, actuators, measurement devices, parameters, and mechanism of coupling to the human body. Exoskeletons are new robotic systems that are in close contact with the human body.
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