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

  • E. Lugo Tecnológico de Monterrey Campus Ciudad de México
  • P. Ponce Tecnológico de Monterrey Campus Ciudad de México
  • A. Molina Tecnológico de Monterrey Campus Ciudad de México
  • S. Castro Tecnológico de Monterrey Campus Ciudad de México

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.

Downloads

Download data is not yet available.
Published
2014-05-15
How to Cite
Lugo, E., Ponce, P., Molina, A., & Castro, S. (2014). Co-simulation of Biomechanical Design for a Robotic Exoskeleton for the Lower Limb. Mexican Journal of Biomedical Engineering, 35(2), 143-156. Retrieved from https://rmib.mx/index.php/rmib/article/view/218
Section
Research Articles