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.
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June 2016
Research-Article
A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons
Priyanshu Agarwal,
Priyanshu Agarwal
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: mail2priyanshu@utexas.edu
The University of Texas at Austin,
Austin, TX 78712
e-mail: mail2priyanshu@utexas.edu
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Richard R. Neptune,
Richard R. Neptune
John T. MacGuire Professor
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: rneptune@mail.utexas.edu
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: rneptune@mail.utexas.edu
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Ashish D. Deshpande
Ashish D. Deshpande
Assistant Professor
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: ashish@austin.utexas.edu
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: ashish@austin.utexas.edu
Search for other works by this author on:
Priyanshu Agarwal
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: mail2priyanshu@utexas.edu
The University of Texas at Austin,
Austin, TX 78712
e-mail: mail2priyanshu@utexas.edu
Richard R. Neptune
John T. MacGuire Professor
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: rneptune@mail.utexas.edu
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: rneptune@mail.utexas.edu
Ashish D. Deshpande
Assistant Professor
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: ashish@austin.utexas.edu
Mem. ASME
Mechanical Engineering Department,
The University of Texas at Austin,
Austin, TX 78712
e-mail: ashish@austin.utexas.edu
1Corresponding author.
Manuscript received June 29, 2015; final manuscript received March 21, 2016; published online April 27, 2016. Assoc. Editor: Paul Rullkoetter.
J Biomech Eng. Jun 2016, 138(6): 061004 (15 pages)
Published Online: April 27, 2016
Article history
Received:
June 29, 2015
Revised:
March 21, 2016
Citation
Agarwal, P., Neptune, R. R., and Deshpande, A. D. (April 27, 2016). "A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons." ASME. J Biomech Eng. June 2016; 138(6): 061004. https://doi.org/10.1115/1.4033177
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