Resumo

LUGO, E.; PONCE, P.; MOLINA, A.  e  CASTRO, S.. Co-simulation of Biomechanical Design for a Robotic Exoskeleton for the Lower Limb. Rev. mex. ing. bioméd [online]. 2014, vol.35, n.2, pp.143-156. ISSN 2395-9126.

This work shows how the co-simulation increases the advantages and decreases the drawbacks for exoskeleton design. The proposed methodology has three stages: the design of a biomechanical part, the mechanical design and the control system. For the biomechanical analysis, OpenSim ® solves the muscle-skeleton system and includes models for different conditions that can be used in the design process. SolidWorks® that is applied in assistive computer design evaluates the mechanical part of the exoskeleton and Matlab® solves the control system that takes over the exoskeleton. It allows getting a personalized design which simulates the complete walking movements, covering the kinematic restrictions to achieve a natural human movement and the user limitations when they have any problem for to walk. The results show how the co-simulation is applied to complete a virtual prototype and the programs are linked hand in hand. Although conventional simulation by one program can save money and time, it cannot solve the entire exoskeleton design problem; as a result the co-simulation is an excellent option in biomechanical, mechanical and control systems that need accurate and swift results in each part of the design process.

Palavras-chave : exoskeleton; movement simulation; control; lowers limbs.

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