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2014, Number 2

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Rev Mex Ing Biomed 2014; 35 (2)

Co-simulation of Biomechanical Design for a Robotic Exoskeleton for the Lower Limb

Lugo E, Ponce P, Molina A, Castro S

Language: Spanish
References: 30
Page: 143-156
PDF size: 989.03 Kb.


ABSTRACT

This work shows how the co-simulation increases the advantages and decreases the drawbacks for exoskeleton design. The proposed methodology has three stages: the design of a biomechanical part, the mechanical design and the control system. For the biomechanical analysis, OpenSim ® solves the muscle-skeleton system and includes models for different conditions that can be used in the design process. SolidWorks ® that is applied in assistive computer design evaluates the mechanical part of the exoskeleton and Matlab ® solves the control system that takes over the exoskeleton. It allows getting a personalized design which simulates the complete walking movements, covering the kinematic restrictions to achieve a natural human movement and the user limitations when they have any problem for to walk. The results show how the co-simulation is applied to complete a virtual prototype and the programs are linked hand in hand. Although conventional simulation by one program can save money and time, it cannot solve the entire exoskeleton design problem; as a result the co-simulation is an excellent option in biomechanical, mechanical and control systems that need accurate and swift results in each part of the design process.


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