An Integrated Dynamic Closed Loop Simulation Platform for Elbow Flexion Augmentation Using an Upper Limb Exosuit Model

Overview

Journal Front Robot AI

Specialty Biomedical Engineering

Date 2022 Apr 4

PMID 35368436

Authors

Ratna Sambhav

Shreeshan Jena

Ankit Chatterjee

Shubhendu Bhasin

Sushma Santapuri

Lalan Kumar

Suriya Prakash Muthukrishnan

Sitikantha Roy

Affiliations

Soon will be listed here.

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.

Citing Articles

Decoding the brain-machine interaction for upper limb assistive technologies: advances and challenges.

Ghosh S, Yadav R, Soni S, Giri S, Muthukrishnan S, Kumar L Front Hum Neurosci. 2025; 19:1532783.

PMID: 39981127 PMC: 11839673. DOI: 10.3389/fnhum.2025.1532783.

A Musculoskeletal Model of the Hand and Wrist Capable of Simulating Functional Tasks.

McFarland D, Binder-Markey B, Nichols J, Wohlman S, de Bruin M, Murray W IEEE Trans Biomed Eng. 2022; 70(5):1424-1435.

PMID: 36301780 PMC: 10650739. DOI: 10.1109/TBME.2022.3217722.

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