An Integrated Dynamic Simulation Platform for Assistive Human-Robot
Interaction: Application to Upper Limb Exosuit
Abstract
Soft exosuits are wearable robotic devices that assist or enhance the
human muscle performance. A human machine interface simulation platform
based on MATLAB-OpenSim interface is developed in this paper for closed
loop dynamic simulation with feedback control strategy and to study its
effect on human physiology. The proposed simulation model is based on
Computed Muscle Control (CMC) algorithm and is implemented using the
MATLAB -OpenSim interface. A Gravity Compensation (GC) controller has
been implemented on the external device and the resulting decrease in
the physiological torques, muscle activations and metabolic costs during
a simple load lifting task with two different speeds is investigated.