Simulation architecture for modelling interaction between user and elbow-articulated exoskeleton

de Kruif, Bas J.; Schmidhauser, Emilio; Stadler, Konrad S.; O'Sullivan, Leonard W.

doi:10.1016/S1672-6529(16)60437-7

Publication type:	Article in scientific journal
Type of review:	Peer review (publication)
Title:	Simulation architecture for modelling interaction between user and elbow-articulated exoskeleton
Authors:	de Kruif, Bas J. Schmidhauser, Emilio Stadler, Konrad S. O'Sullivan, Leonard W.
DOI:	10.1016/S1672-6529(16)60437-7
Published in:	Journal of Bionic Engineering
Volume(Issue):	14
Issue:	4
Page(s):	706
Pages to:	715
Issue Date:	2017
Publisher / Ed. Institution:	Springer
ISSN:	1672-6529
Language:	English
Subjects:	Human-exoskeleton modelling; Human response modelling; Exoskeleton; Musculoskeletal system; Exoskeleton design
Subject (DDC):	600: Technology 620: Engineering
Abstract:	The aim of our work is to improve the existing user-exoskeleton models by introducing a simulation architecture that can simulate its dynamic interaction, thereby altering the initial motion of the user. A simulation architecture is developed that uses the musculoskeletal models from OpenSim, and that implements an exoskeleton control algorithm and human response model in Matlab. The musculoskeletal models need to be extended with the response of a user to external forces to simulate the dynamic interaction. A set of experiments was performed to fit this response model. A validation test showed that more than 80% of the variance of the motion could be explained. With the human response model in the combined simulation architecture, a simulation in which an object connects with the exoskeleton or with the human is performed. The effect of the exoskeleton on, among others, muscle excitation and altered motion can be assessed with this architecture. Our work can be used to better predict the effect an exoskeleton has on the user.
URI:	https://digitalcollection.zhaw.ch/handle/11475/2182
Fulltext version:	Published version
License (according to publishing contract):	Licence according to publishing contract
Departement:	School of Engineering
Organisational Unit:	Institute of Mechatronic Systems (IMS)
Appears in collections:	Publikationen School of Engineering

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de Kruif, B. J., Schmidhauser, E., Stadler, K. S., & O’Sullivan, L. W. (2017). Simulation architecture for modelling interaction between user and elbow-articulated exoskeleton. Journal of Bionic Engineering, 14(4), 706–715. https://doi.org/10.1016/S1672-6529(16)60437-7

de Kruif, B.J. et al. (2017) ‘Simulation architecture for modelling interaction between user and elbow-articulated exoskeleton’, Journal of Bionic Engineering, 14(4), pp. 706–715. Available at: https://doi.org/10.1016/S1672-6529(16)60437-7.

B. J. de Kruif, E. Schmidhauser, K. S. Stadler, and L. W. O’Sullivan, “Simulation architecture for modelling interaction between user and elbow-articulated exoskeleton,” Journal of Bionic Engineering, vol. 14, no. 4, pp. 706–715, 2017, doi: 10.1016/S1672-6529(16)60437-7.

DE KRUIF, Bas J., Emilio SCHMIDHAUSER, Konrad S. STADLER und Leonard W. O’SULLIVAN, 2017. Simulation architecture for modelling interaction between user and elbow-articulated exoskeleton. Journal of Bionic Engineering. 2017. Bd. 14, Nr. 4, S. 706–715. DOI 10.1016/S1672-6529(16)60437-7

de Kruif, Bas J., Emilio Schmidhauser, Konrad S. Stadler, and Leonard W. O’Sullivan. 2017. “Simulation Architecture for Modelling Interaction between User and Elbow-Articulated Exoskeleton.” Journal of Bionic Engineering 14 (4): 706–15. https://doi.org/10.1016/S1672-6529(16)60437-7.

de Kruif, Bas J., et al. “Simulation Architecture for Modelling Interaction between User and Elbow-Articulated Exoskeleton.” Journal of Bionic Engineering, vol. 14, no. 4, 2017, pp. 706–15, https://doi.org/10.1016/S1672-6529(16)60437-7.