Iranian Journal of Biomedical Engineering (IJBME)
نوع مقاله : ویژهنامهی بیومکانیک اسکلتی عضلانی (پاییز 1403)
نویسندگان
1 Blvd. 29-Bahman, Tabriz, Iran
2 دانشیار گروه مهندسی مکاترونیک، دانشکده مهندسی مکانیک، دانشگاه تبریز
کلیدواژهها
موضوعات
عنوان مقاله English
نویسندگان English
Exoskeleton robots have been developed for various purposes, including rehabilitation, augmentation, and motion assistance. The goal of this paper is to create a coherent model for musculoskeletal simulation of a body limb and control of the exoskeleton robot connected to it, based on the Application Programming Interface (API) of OpenSim for MATLAB. The musculoskeletal model of the arm and forearm are the body limb, whose connected exoskeleton robot should drive the elbow angle in three different tasks. The elbow angle is controlled in a closed loop via getting feedback from the elbow motion. In this program, the brachial muscles are actively participated and the simulated motion is the result of applying the control torque of the exoskeleton as well as the force of the brachial muscles. The calculation and sending of control inputs is done by MATLAB, and the solution of musculoskeletal dynamics, the execution of simulation and sending the feedback data are performed by OpenSim software. The results obtained in each of the considered tasks indicate the success of this software platform in simulating and controlling human-robot interaction.
کلیدواژهها English
