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.
A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons
Manuscript received June 29, 2015; final manuscript received March 21, 2016; published online April 27, 2016. Assoc. Editor: Paul Rullkoetter.
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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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