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By Sasi Bhushan Beera & Shreeganesh Sudhindra

The document discusses modeling and analysis of an upper limb powered exoskeleton for rehabilitation and assistance applications. It describes modeling the human arm and exoskeleton segments and joints in a simulation environment. It then analyzes different case studies of the exoskeleton assisting or providing resistance during arm curl motions. The analysis compares muscle forces with and without the exoskeleton. The document concludes with proposing extensions to the model and developing a prototype.

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علي كامل الاسدي
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29 views

By Sasi Bhushan Beera & Shreeganesh Sudhindra

The document discusses modeling and analysis of an upper limb powered exoskeleton for rehabilitation and assistance applications. It describes modeling the human arm and exoskeleton segments and joints in a simulation environment. It then analyzes different case studies of the exoskeleton assisting or providing resistance during arm curl motions. The analysis compares muscle forces with and without the exoskeleton. The document concludes with proposing extensions to the model and developing a prototype.

Uploaded by

علي كامل الاسدي
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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By

Sasi Bhushan Beera


&
Shreeganesh Sudhindra
•Structures

•Energy Requirements

•Controls

•Actuation

•Bio Mechanics
 Understanding the mechanics that couple the
Human and Robot systems

 Developing the intrinsic interaction between the


Man-Machine systems

 To study their combined performance under


different operating conditions
Wearable Robots in Physiotherapy(11) Wearable Robots in Haptics(11)

Wearable Robots in Warfare(11) Wearable Robots in Tele-Operation(

Advanced Infantry
Virtual engineering is defined as integration of geometric models and related engineering

tools for analysis, simulation, optimization, and decision making within a computer

generated environment that facilitates multidisciplinary collaborative product

development
 User Centered virtual reality visualization
techniques

 Computer Aided Manufacturing(CAM)

 Computer Aided Engineering (CAE)

 Decision making and Engineering support


tools
Input Data Documenting and Interpreting
results

If Convergence
Criteria is satisfied

Analysis using test loads


Optimizer
Virtual Simulation
Prototype
If convergence criteria is not
satisfied
MATLAB - The Language Of Technical
Computing
 To optimize the design of a powered exoskeleton
which can be used as a rehabilitative device or an
assistive device.

 In the rehabilitation mode, the device is intended


to provide controllable active resistance as a
function of the current configuration of the
system.

 In the assistive mode, it is intended to provide


controllable assistance.
Modeling (Arm Model)

Analysis (IDA)

Modeling of Exoskeleton

Analysis (IDA) and Optimization


Two segments identical to Upper and Fore
Arm segments are added to the Arm
Model and displaced by a distance of
0.03m from the corresponding segments.

•An exo-elbow joint is created between


the two exoskeleton segments
•The elbow joint in the actual model is
removed to resolve the redundancy in the
system.
•The UpperArm and UpperExo are
connected by a revolute joint.
•The UpperExo and LowerExo are
connected by a revolute joint
•The ForeArm and LowerExo are
connected by a prismatic joint
Case1: Simple arm model performing Case 2:Simple arm model performing Arm-Curl
arm-curl motion with a dumbbell motion against an applied torque at the elbow

Case 3: Exoskeleton Assistive Model Case 4:Exoskeleton Rehabilitation Model


• Objective Function: Min Muscle Metabolism

• Design Variable : Moment

• Subject to : Moment > 0

where: MomentMin Moment MomentMax


Initial Configuration Body Mass: 60 Kg

ExoMass: 10 Kg

Height: 1.5 m

Simulation Time: 1 sec

Final Configuration Driver Position: 90 deg

Driver Velocity: 45 deg/sec

Applied Force/Torque: 400 N (Nm)

MomentMin: 0

MomentMax: 300
Case Study 1: Arm-Curl lifting a Case Study 3: Arm-Curl lifting a
dumbbell dumbbell assisted by an exoskeleton
Case Study 2: Arm-Curl lifting Case Study 4: Arm-Curl lifting the load of
against a torque at the elbow torque at the elbow applied by exoskeleton
Two segments identical to Upper and Fore Arm
segments are added to the Arm Model and displaced
by a distance of 0.03m from the corresponding
segments.

•An exo-elbow joint is created between the two


exoskeleton segments

•The Upper Arm and Lower Arm


are connected by a revolute joint

•The UpperArm and the UpperExo


are connected by a spherical joint.

•The UpperExo and the LowerExo


are connected by a revolute joint.

•The ForeArm and the LowerExo


are connected by a cylindrical
joint.
Case Study 1: Arm-Curl lifting a Case Study 3: Arm-Curl lifting a
dumbbell dumbbell assisted by an exoskeleton
Case Study 2: Arm-Curl lifting Case Study 4: Arm-Curl lifting the load of
against a torque at the elbow torque at the elbow applied by exoskeleton
Comparison of the peak muscle forces when used as an assistive device

Muscles Dumbbell Assistive Assistive % reduction % reduction


Model 1 Model 2 In muscle In muscle
forces (Model forces (Model
1) 2)

Brachialis 515.30 190.42 59.43 63.04 88.46


DeltodeusA 1319.34 152.13 1326.02 88.46 -.50
DeltodeusB 0 465.75 0 0 0
Brachioradialis 515.30 1.81 59.43 99.64 88.46
BicepsShort 515.30 917.20 59.43 -77.99 88.46
TricepsShort 0 262.79 81.49 0 0
BicepsLong 1319.34 1377.72 1326.02 -4.42 -0.5
TricepsLong 0 0 0 0 0
Comparison of the peak muscle forces when used as a loading device
Muscles Dumbbell Rehabilitati Rehabilitatio % change In % reduction
on Model 1 n Model 2 muscle forces In muscle
(Model 1) forces (Model
2)

Brachialis 1530.04 2225.42 1531.96 45.44 0.12


DeltodeusA 0 0 0 0 0
DeltodeusB 1530.04 28494.68 1531.96 1762.34 0.12
Brachioradialis 1530.04 54.04 1531.96 -96.46 0.12

BicepsShort 1530.04 10412.16 1531.96 580.51 0.12


TricepsShort 0 0 0 0 0
BicepsLong 688.65 683.43 699.14 -0.75 1.52
TricepsLong 0 0 0 0 0
 Develop a more complex model of the human arm that
takes into consideration more muscles and actual bone
geometry of the human arm.
 Test the performance of the Exoskeleton system on a
musculoskeletal model of the whole human body .
 Develop a lower exoskeleton model for the human body
and to test the combined performance of the upper and
lower exoskeleton systems while working in unision.
 To fabricate an actual prototype.
1. MUSCULOSKELETAL MODELING OF SMILODON FATALIS FOR VIRTUAL
FUNCTIONAL PERFORMANCE TESTING - KIRAN S KONAKANCHI , 2005
2. The Human Arm Kinematics and Dynamics during daily activities – Toward a 7
DOF
3. Upper Limb Powered Exoskeleton - Jacob Rosen , Joel C. Perry , Nathan
Manning , Stephen Burns , Blake Hannaford - University of Washington,
Seattle WA, 98185, USA
4. Computer Simulation in Gait Analysis Simulation chapter (PM&R STAR) June 02
– Talaty. M
5. Mechanics of Human Locomotor System - Mihailo Lazarević (Associate
Professor ,Faculty of Mechanical Engineering ,University of Belgrade)
6. http://science.howstuffworks.com/exoskeleton2.htm
7. http://davidszondy.com/future/robot/hardiman.htm
8. http://www.ncac.gwu.edu/research/infrastructure.html
9. http://www.ucsc.edu/news_events/text.asp?pid=2668
10. http://bleex.me.berkeley.edu/bleex.htm
11. http://www.esa.int/TEC/Robotics/SEMA9EVHESE_0.html
12. http://www.anybodytech.com/
13. http://www.mathworks.com/

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