Hi, I build a simple knee exoskeleton(1DOF), I try to connect it to a human model. It seems more complex than I think. could you please help me?
I cannot find a proper connecting between exoskeleton and human, I tried a lot, but it didnot work, I have no idea…
Also, I found I cannot change the connect joint node (eg.PelvisSeg.CenterNode change as thighnode or toenode )
Error: ERROR(SYS1) : Operation : Unknown error : ‘No Class Information’
I found sometimes when I load model, the position between thigh and calf exoskeleton will move, however, it should be connected with each other. When I just load keen_exo.any file, this problem would not exist.
why do not fix any part with respect to the global coordinate system, I saw “tutorial 3 My pedal”, it connected to a global coordinate system. At the same time, the “tutorial 12 my fitness”, it didn’t. Why? Is there some difference, they are both human connecting to the environment.
the 7DOF，you mean assembly human with exoskeleton together? I have one DOF in the exoskeleton, and there should be 6DOF on a human model?
For some model which should have its connections also with respect to the global environment,
it is OK for those models to have some constraints with respect to the global coordinate systems.
But for exoskeletons, those usually have connections with respect to the human itself, not with respect to the global coordinate system.
In this aspect, for your case, it is good for your model to have kinematic constraints with respect to the human model only.
When you only load the exoskeleton model inside AnyBody Modeling System, the exoskeleton model should have 7 degrees of freedom.
When you combine your exoskeleton model with the human model, you can use 6 constraints to fix either thigh or shank.
Then the knee flexion of the exoskeleton can be synchronized with the human model by using 1 constraint.