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Simulations of Body–Exoskeleton Interaction using OpenSim–MATLAB Interface

Authors :

Mohammad-Reza Sayyed Noorani¹ Hesam Ghasemi Barghi² Shaghayegh Hassanzadeh Khanmiri³

1- University of Tabriz 2- University of Tabriz 3- University of Tabriz

Keywords :

Human-Robot Interaction،Exoskeleton Robot،Musculoskeletal Model،OpenSim/MATLAB API

Abstract :

Exoskeleton robots are developed for various purposes, including rehabilitation, power augmentation, and movement assistance. This study aims to create some integrated models of the human musculoskeletal system that interact with and are powered by an exoskeleton robot. In fact, we intend to achieve some desired movement scenarios by closed-loop control of the exo-robot via simulations designed using OpenSim-MATLAB Application Programming Interface (API). Here, we examine three scenarios, including knee flexion in a situation where a patient needs a motion assistance service, power augmentation for elbow flexion when the user demands extra power to lift a weight, and a resistive scenario in which elbow flexion is performed against the force applied by a spring. During all three scenarios, the required torque should be applied by the exo-robot, which is calculated based on the PD control law that runs in a closed-loop scheme in MATLAB through receiving motion feedback information provided from the OpenSim solver. The results demonstrate the effectiveness of this integrated framework in accurately simulating human-robot interaction, offering a practical tool for developing advanced assistive motion systems.