![Page 1: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/1.jpg)
MAE 501 INDEPENDENT STUDY
Modeling ,Analysis & Simulation ofExoskeletons for the Human Arm
BySasi Bhushan Beera
&Shreeganesh Sudhindra
![Page 2: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/2.jpg)
![Page 3: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/3.jpg)
![Page 4: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/4.jpg)
Hardiman ,GE 1965 (7)
![Page 5: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/5.jpg)
Research Areas
•Structures
•Energy Requirements
•Controls
•Actuation
•Bio Mechanics
![Page 6: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/6.jpg)
Motivation
Understanding the mechanics that couple the Human and Robot systems
Developing the intrinsic interaction between the Man-Machine systems
To study their combined performance under different operating conditions
![Page 7: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/7.jpg)
Wearable Robots in Physiotherapy(11)
Wearable Robots in Haptics(11)
Wearable Robots in Tele-Operation(11)
Wearable Robots in Warfare(11)
Advanced Infantry
Applications
![Page 8: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/8.jpg)
Virtual Engineering
Virtual engineering is defined as integration of
geometric models and related engineering
tools for analysis,
simulation,
optimization,
and decision making
within a computer
generated environment that facilitates multidisciplinary collaborative product
development
![Page 9: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/9.jpg)
Key Features of Virtual Engineering
User Centered virtual reality visualization techniques
Computer Aided Manufacturing(CAM)
Computer Aided Engineering (CAE)
Decision making and Engineering support tools
![Page 10: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/10.jpg)
Virtual Prototype
Governing
Algorithms
Optimizer
Analysis using test loads
SimulationIf convergence criteria is not satisfied
If Convergence Criteria is satisfied
Input Data Documenting and Interpreting results
Virtual Engineering
![Page 11: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/11.jpg)
MATLAB - The Language Of Technical Computing
Softwares used for the study(12,13)
![Page 12: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/12.jpg)
Objective To optimize the design of a powered exoskeleton
which can be used as a rehabilitative device or an assistive device.
In the rehabilitation mode, the device is intended to provide controllable active resistance as a function of the current configuration of the system.
In the assistive mode, it is intended to provide controllable assistance.
![Page 13: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/13.jpg)
Implementation
Modeling (Arm Model)
Analysis (IDA)
Modeling of Exoskeleton
Analysis (IDA) and Optimization
![Page 14: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/14.jpg)
Arm Model(12)
![Page 15: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/15.jpg)
Modeling of Exoskeleton Model
Two segments identical to Upper and Fore Arm segments are added to the Arm Model and displaced by a distance of 0.03m from the corresponding segments.
•An exo-elbow joint is created between the two exoskeleton segments•The elbow joint in the actual model is removed to resolve the redundancy in the system.•The UpperArm and UpperExo are connected by a revolute joint.•The UpperExo and LowerExo are connected by a revolute joint•The ForeArm and LowerExo are connected by a prismatic joint
![Page 16: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/16.jpg)
Case Studies
Case1: Simple arm model performing arm-curl motion with a dumbbell
Case 2:Simple arm model performing Arm-Curl motion against an applied torque at the elbow
Case 3: Exoskeleton Assistive Model Case 4:Exoskeleton Rehabilitation Model
![Page 17: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/17.jpg)
Optimization Problem
• Objective Function: Min Muscle Metabolism
• Design Variable : Moment
• Subject to : Moment > 0
where: MomentMin Moment MomentMax
![Page 18: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/18.jpg)
Input Parameters & Test Loads
Initial Configuration
Final Configuration
Body Mass: 60 Kg
ExoMass: 10 Kg
Height: 1.5 m
Simulation Time: 1 sec
Driver Position: 90 deg
Driver Velocity: 45 deg/sec
Applied Force/Torque: 400 N (Nm)
MomentMin: 0
MomentMax: 300
![Page 19: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/19.jpg)
Testing the Assistive Functionality of the Exoskeleton
Case Study 1: Arm-Curl lifting a dumbbell
Case Study 3: Arm-Curl lifting a dumbbell assisted by an exoskeleton
![Page 20: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/20.jpg)
Optimum Moment Profile
![Page 21: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/21.jpg)
Testing the Rehabilitative Functionality of the Exoskeleton
Case Study 2: Arm-Curl lifting against a torque at the elbow
Case Study 4: Arm-Curl lifting the load of torque at the elbow applied by exoskeleton
![Page 22: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/22.jpg)
Modeling of ExoSkeleton 2
Two segments identical to Upper and Fore Arm segments are added to the Arm Model and displaced by a distance of 0.03m from the corresponding segments.
•An exo-elbow joint is created between the two exoskeleton segments
•The Upper Arm and Lower Arm are connected by a revolute joint
•The UpperArm and the UpperExo are connected by a spherical joint.
•The UpperExo and the LowerExo are connected by a revolute joint.
•The ForeArm and the LowerExo are connected by a cylindrical joint.
![Page 23: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/23.jpg)
Testing the Assistive Functionality of the Exoskeleton
Case Study 1: Arm-Curl lifting a dumbbell
Case Study 3: Arm-Curl lifting a dumbbell assisted by an exoskeleton
![Page 24: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/24.jpg)
Optimum Moment Profile
![Page 25: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/25.jpg)
Testing the Rehabilitative Functionality of the Exoskeleton
Case Study 2: Arm-Curl liftingagainst a torque at the elbow
Case Study 4: Arm-Curl lifting the load of torque at the elbow applied by exoskeleton
![Page 26: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/26.jpg)
Comparison of Performance of the three models
Muscles Dumbbell Assistive Model 1
Assistive Model 2
% reduction In muscle forces (Model 1)
% reduction In muscle forces (Model 2)
Brachialis 515.30 190.42 59.43 63.04 88.46
DeltodeusA 1319.34 152.13 1326.02 88.46 -.50
DeltodeusB 0 465.75 0 0 0
Brachioradialis
515.30 1.81 59.43 99.64 88.46
BicepsShort 515.30 917.20 59.43 -77.99 88.46
TricepsShort 0 262.79 81.49 0 0
BicepsLong 1319.34 1377.72 1326.02 -4.42 -0.5
TricepsLong 0 0 0 0 0
Comparison of the peak muscle forces when used as an assistive device
![Page 27: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/27.jpg)
Comparison of Performance of the three models
Muscles Dumbbell Rehabilitation Model 1
Rehabilitation Model 2
% change In muscle forces (Model 1)
% reduction In muscle forces (Model 2)
Brachialis 1530.04 2225.42 1531.96 45.44 0.12
DeltodeusA 0 0 0 0 0
DeltodeusB 1530.04 28494.68 1531.96 1762.34 0.12
Brachioradialis
1530.04 54.04 1531.96 -96.46 0.12
BicepsShort 1530.04 10412.16 1531.96 580.51 0.12
TricepsShort 0 0 0 0 0
BicepsLong 688.65 683.43 699.14 -0.75 1.52
TricepsLong 0 0 0 0 0
Comparison of the peak muscle forces when used as a loading device
![Page 28: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/28.jpg)
Discussion and Future Scope
Develop a more complex model of the human arm that takes into consideration more muscles and actual bone geometry of the human arm.
Test the performance of the Exoskeleton system on a musculoskeletal model of the whole human body .
Develop a lower exoskeleton model for the human body and to test the combined performance of the upper and lower exoskeleton systems while working in unision.
To fabricate an actual prototype.
![Page 29: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/29.jpg)
Implementation Using a GUI
![Page 30: Optimization of design of an Exoskeleton - PPT](https://reader036.vdocuments.net/reader036/viewer/2022062511/54b9e1484a7959d8668b45a1/html5/thumbnails/30.jpg)
References
1. MUSCULOSKELETAL MODELING OF SMILODON FATALIS FOR VIRTUAL FUNCTIONAL PERFORMANCE TESTING - KIRAN S KONAKANCHI , 2005
2. The Human Arm Kinematics and Dynamics during daily activities – Toward a 7 DOF
3. Upper Limb Powered Exoskeleton - Jacob Rosen , Joel C. Perry , Nathan Manning , Stephen Burns , Blake Hannaford - University of Washington, Seattle WA, 98185, USA
4. Computer Simulation in Gait Analysis Simulation chapter (PM&R STAR) June 02 – Talaty. M
5. Mechanics of Human Locomotor System - Mihailo Lazarević (Associate Professor ,Faculty of Mechanical Engineering ,University of Belgrade)
6. http://science.howstuffworks.com/exoskeleton2.htm7. http://davidszondy.com/future/robot/hardiman.htm8. http://www.ncac.gwu.edu/research/infrastructure.html9. http://www.ucsc.edu/news_events/text.asp?pid=266810. http://bleex.me.berkeley.edu/bleex.htm11. http://www.esa.int/TEC/Robotics/SEMA9EVHESE_0.html12. http://www.anybodytech.com/13. http://www.mathworks.com/