AUTHOR=Sambhav Ratna , Jena Shreeshan , Chatterjee Ankit , Bhasin Shubhendu , Santapuri Sushma , Kumar Lalan , Muthukrishnan Suriya Prakash , Roy Sitikantha TITLE=An Integrated Dynamic Closed Loop Simulation Platform for Elbow Flexion Augmentation Using an Upper Limb Exosuit Model JOURNAL=Frontiers in Robotics and AI VOLUME=9 YEAR=2022 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2022.768841 DOI=10.3389/frobt.2022.768841 ISSN=2296-9144 ABSTRACT=

Wearable robotic devices are designed to assist, enhance or restore human muscle performance. Understanding how a wearable robotic device changes human biomechanics through complex interaction is important to guide its proper design, parametric optimization and functional success. The present work develops a human-machine-interaction simulation platform for closed loop dynamic analysis with feedback control and to study the effect of soft-robotic wearables on human physiology. The proposed simulation platform incorporates Computed Muscle Control (CMC) algorithm and is implemented using the MATLAB -OpenSim interface. The framework is generic and will allow incorporation of any advanced control strategy for the wearable devices. As a demonstration, a Gravity Compensation (GC) controller has been implemented on the wearable device and the resulting decrease in the joint moments, muscle activations and metabolic costs during a simple repetitive load lifting task with two different speeds is investigated.