Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation
This paper presents the design and the simulation of an exoskeleton based on the kinematics of the human arm intended to be used in robot-assisted rehabilitation of the upper limb. The design meets the kinematic characteristics of the human arm so that the exoskeleton allows the movement of the arm...
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doaj-3553ea986b5d4d21bee0b3ee245f81042020-11-24T21:12:55ZengJVE InternationalJournal of Vibroengineering1392-87162538-84602016-08-011853269327810.21595/jve.2016.1685716857Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulationZaira Pineda-Rico0Jose Alfonso Sanchez de Lucio1Francisco Javier Martinez Lopez2Pedro Cruz3Coordinacion Academica Region Altiplano, Universidad Autonoma de San Luis Potosi, Carr. Cedral Km 5+600 Ejido San Jose de las Trojes, Matehuala, S.L.P., MexicoDepartment of Electronics, University of York, Heslington, York, YO105DD, UKCoordinacion Academica Region Altiplano, Universidad Autonoma de San Luis Potosi, Carr. Cedral Km 5+600 Ejido San Jose de las Trojes, Matehuala, S.L.P., MexicoCoordinacion Academica Region Altiplano, Universidad Autonoma de San Luis Potosi, Carr. Cedral Km 5+600 Ejido San Jose de las Trojes, Matehuala, S.L.P., MexicoThis paper presents the design and the simulation of an exoskeleton based on the kinematics of the human arm intended to be used in robot-assisted rehabilitation of the upper limb. The design meets the kinematic characteristics of the human arm so that the exoskeleton allows the movement of the arm in its full range of motion. We used co-simulation to design the exoskeleton considering a model of the upper limb developed in Opensim, Solidworks to design the mechanical structure and Matlab to construct the dynamic model. The system in motion was simulated in Simmechanics using predictive dynamics to compute independent joint trajectories obtained by modelling the exoskeleton as several optimization problems solved with SNOPT from Tomlab. The use of virtual tools in the designing process and the modular structure of the exoskeleton will allow the construction of personalized devices using 3D printing. The exoskeleton was designed to work under independent joint control so that the system will be able to work as passive, assistive and active-assistive mode, to keep records of motion for data analysis and to support the rehabilitation process.https://www.jvejournals.com/article/16857exoskeletonrobot-mediatedco-simulationupper limbvirtual design |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Zaira Pineda-Rico Jose Alfonso Sanchez de Lucio Francisco Javier Martinez Lopez Pedro Cruz |
spellingShingle |
Zaira Pineda-Rico Jose Alfonso Sanchez de Lucio Francisco Javier Martinez Lopez Pedro Cruz Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation Journal of Vibroengineering exoskeleton robot-mediated co-simulation upper limb virtual design |
author_facet |
Zaira Pineda-Rico Jose Alfonso Sanchez de Lucio Francisco Javier Martinez Lopez Pedro Cruz |
author_sort |
Zaira Pineda-Rico |
title |
Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation |
title_short |
Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation |
title_full |
Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation |
title_fullStr |
Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation |
title_full_unstemmed |
Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation |
title_sort |
design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation |
publisher |
JVE International |
series |
Journal of Vibroengineering |
issn |
1392-8716 2538-8460 |
publishDate |
2016-08-01 |
description |
This paper presents the design and the simulation of an exoskeleton based on the kinematics of the human arm intended to be used in robot-assisted rehabilitation of the upper limb. The design meets the kinematic characteristics of the human arm so that the exoskeleton allows the movement of the arm in its full range of motion. We used co-simulation to design the exoskeleton considering a model of the upper limb developed in Opensim, Solidworks to design the mechanical structure and Matlab to construct the dynamic model. The system in motion was simulated in Simmechanics using predictive dynamics to compute independent joint trajectories obtained by modelling the exoskeleton as several optimization problems solved with SNOPT from Tomlab. The use of virtual tools in the designing process and the modular structure of the exoskeleton will allow the construction of personalized devices using 3D printing. The exoskeleton was designed to work under independent joint control so that the system will be able to work as passive, assistive and active-assistive mode, to keep records of motion for data analysis and to support the rehabilitation process. |
topic |
exoskeleton robot-mediated co-simulation upper limb virtual design |
url |
https://www.jvejournals.com/article/16857 |
work_keys_str_mv |
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1716749520080994304 |