Exoskeletons, Exomusculatures, Exosuits: Dynamic...
Transcript of Exoskeletons, Exomusculatures, Exosuits: Dynamic...
excerpt from the book: Biomechatronics, Popovic, Academic Press, Elsevier, 2019. (No of pages 668) ISBN 978-0-12-812939-5 https://doi.org/10.1016/C2016-0-04132-3 Copyright © 2019 Elsevier Inc. All rights reserved. Chapter 11, Pages 305-331
Exoskeletons, Exomusculatures, Exosuits: Dynamic Modeling and Simulation Yunus Ziya Arslan*, Derya Karabulut*, Faruk Ortes*, Marko B. Popovic†
*ISTANBUL UNIVERSITY, ISTANBUL, TURKEY †WORCESTER POLYTECHNIC INSTITUTE,
WORCESTER, MA, UNITED STATES
Abstract
Exoskeleton, exomusculature, and exosuit technologies have been advanced in a highly accelerated
manner in the recent decades. In the first part of this chapter, these device concepts are appropriately
defined and recent progress in this field is briefly reviewed. The second part of this chapter is focused on
dynamic modeling and simulation of musculoskeletal system for exoskeleton designs.
CHAPTER OUTLINE
11.1 Introduction to Wearable Exoskeletons, Exomusculatures, and Exosuits ................................. 305
11.2 Dynamic Modeling and Simulation of the Human Musculoskeletal System for
Exoskeleton Designs .............................................................................................................. 311
11.2.1 Construction of the Musculoskeletal Model ........................................................................311
11.2.2 Modeling of the Muscle-Tendon Unit ..................................................................................313
11.2.3 Model Validation .................................................................................................................316
11.2.4 Motion Analysis ...................................................................................................................318
11.2.5 Exoskeleton .........................................................................................................................319
11.3 Computational Musculoskeletal Modeling and Simulation ..................................................... 320
11.3.1 Scale Tool ............................................................................................................................322
11.3.2 Inverse Kinematics ..............................................................................................................322
11.3.3 Inverse Dynamics ................................................................................................................323
11.3.4 Static Optimization .............................................................................................................324
11.3.5 Integration of the Exoskeleton Dynamics to the Simulation Software ................................324
References .................................................................................................................................... 327
Biomechatronics. https://doi.org/10.1016/B978-0-12-812939-5.00011-2
© 2019 Elsevier Inc. All rights reserved.
[chapter content intentionally omitted]
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