Attached is the Exo model converted in Anyscript named as Exo.any and a script file named as “Quick Exo copy DEBEL” from where I am driving the Exo model.
I have fixed the pelvis part and driving both the legs but I actaullay wants to move the complete exo in the form of human gait using JOint ROM and later using virtual motors.
Hi Sakshi,
Do you mean that you are trying to generate gait-like motion in the exoskeleton model? If so, how are you specifying the joint angle trajectories?
Regards
Ananth
I am using Bspline function and providing the theoritical joint ROM values into the function. I am able to visualize the right leg walking pattern with its left leg and pelvis fixed to ground.
I wanted to know whether can we define condition for running the loop. Because if I want to move the Exo model I have to define a condition that if my one leg touches the ground, immediately other leg will get triggered for swinging.
The whole idea is to move the standing human model using Exo model.
I feel we can also use Mocap Model where I can attach my exo model and analyze bio-mechanical parameters. But for that I need support from AnyBody team to go with that activity
Dear Sakshi,
Because if I want to move the Exo model I have to define a condition that if my one leg touches the ground, immediately other leg will get triggered for swinging.
This is theoretically possible, but can take quite some work to do. You could pre-identify the points at which the foot contacts the ground and then add soft drivers that constrain the feet to these points.
However the weights of these soft drivers - weight values determine whether these constraints are enforced or not - can be made dependent on the position of the other foot.
E.g., when the left foot is up in the air, the weight for the right foot soft driver could be high (say 10), but when the left foot is within 1 cm from the ground, the right foot weight is made to linearly decrease towards 0.
Please see this tutorial to understand how weight functions can be made:
http://www.anybodytech.com/fileadmin/AnyBody/Docs/Tutorials/Making_things_move/lesson6.html. The example describes marker drivers but you could easily adapt this to your case.
Alternatively, try to calculate the trajectory of the pelvis (3D translation and rotation) during the gait cycle. Then you may completely avoid the need to model foot contact.
I feel we can also use Mocap Model where I can attach my exo model and analyze bio-mechanical parameters.
You could attach your exoskeleton model to the human model by using ONLY the human-exoskeleton connection drivers that my colleague Moonki made for you earlier. Since now you will have motion capture data, you can eliminate Moonki's drivers for balance, CoM etc. Those drivers merely helped to get the squatting motion used in that particular example.
In AnyBody's MoCap model template that is available in the AMMR examples, merely replace the human model with this new model of "Exoskeleton + Human", and try running the MoCap simulation.
To better understand measures and drivers, and also how the human model can be attached to devices like exoskeletons, also have a look at this webcast 