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Old 03-03-2015, 11:31 PM
pomacs pomacs is offline
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Join Date: Mar 2015
Posts: 2
Default Attaching a walking human model to exoskeleton

I have an exoskeleton model that, I exported from Solidworks into Anybody using the Solidworks2Anybody.

I need help on how to attach a walking human to the exoskeleton, or how to define the connection nodes between human the exoskeletons
and also on how to measure the inertia forces on the exoskeleton links due to the human motion.

Thank you

Last edited by pomacs; 03-03-2015 at 11:36 PM. Reason: clarifying the question
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Old 03-05-2015, 09:53 AM
aalmunajjed aalmunajjed is offline
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Join Date: Mar 2011
Posts: 633
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Hi,
you should use a code similar to this here:


AnyKinEq Exo_Thigh_Connection =
{
AnyKinLinear lin =
{
AnyRefFrame &base = Main.HumanModel.BodyModel.Right.Seg.Thigh.Attachme ntNode;
AnyRefFrame &target = Main.Model.EnvironmentModel.EXO.ThighAttNode;
Ref = 0;
};

AnyKinRotational rot =
{
AnyRefFrame &base = Main.HumanModel.BodyModel.Right.Seg.Thigh.Attachme ntNode;
AnyRefFrame &target = Main.Model.EnvironmentModel.EXO.ThighAttNode;
Type = PlanarAngles;
};

Reaction.Type = {Off, Off, Off, Off, Off, Off};
};



In order to use this, you need to make nodes on exoskeleton and thigh, I called them AttachmentNode on the Thigh and ThighAttNode on the exoskeleton.
The AnyKinEq will align both nodes, first all 3 translations (AnyKinLin), then all 3 rotations (AnyKinRot). This will be done only kinematically, forces will not be transfered (reaction.type = off).
__________________
Best regards, Amir

__________________
Amir Al-Munajjed, AnyBody Support

Please provide AMMR and AMS version numbers in case you send a debug model. The folder structure should follow the standard in the AMMR. This makes it a lot easier for us to answer your questions faster.

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