Exoskeleton

Main Forum
1

Hello everyone,
I am having some basic understanding problems with the interface of exoskeleton with the human. I am using AMS V5 and i have started with the basic standing model folder. Exported the exo model to AMS. I have reference nodes on the exo model at the centre of each segment, at foot, shank , thigh and top of a small hip segment. Used 3 hinge joints.

1)which driver i have to use for the hinge joints? practically i am using a linear actuator to bring about angular motion of all the segments.

  1. It is very difficult to find the reference nodes on the human body, Is there a convenient way to choose. something like a middle point of each segment.

  2. I was trying to decode the human driver for the these joints to implement the same in our exo model. im finding it difficult to do so. kindly provide me a small overview of what are all we have to implement.

  3. My first intention is try and prove that with exo the human effort is less. what kind of reaction type i have to set for the human drivers and exo drivers to achieve the same.

  4. if i want to achieve something like a joint driven by only exo, only human, exo + human and compare all three how can i achieve that

  5. Measuring contact force

Kinldy i would like to put a request to create a LIVE chat area in the forum, who are all using the AMS at that time, will receive the questions posted in the live chat they can answer the same. It would be highly beneficial for beginners like me. Kindly consider.

2

Dear R. Deepak Kumar,

  1. You can try our ‘AnyKinEqSimpleDriver’. It can be used with any kind of kinematic measure such as AnyKinLinear, AnyKinRotational, AnyRevoluteJoint and AnyPrismaticJoint.

  2. You can try to define your ‘own’ AnyRefNode inside any kind of AnySeg objects.

  3. AnyKinEqSimpleDriver objects were used for the default drivers. And the joint position and joint velocity values were used.

  4. You should always turn off the ‘Reaction.Type’ for the drivers in the human model. But you should turn on this for the drivers of exoskeleton actuators.

  5. You should change the ‘Reaction.Type’ of the drivers according to your purpose.

  6. You can simulate the contact force between human and exoskeleton. In our examples, please have a look at the ‘SeatedHuman’ example for your idea.

Best regards,
Moonki