Modeling and simulation of the interaction forces between the gait rehabilitation system with a musculoskeletal-model of human body

Authors

1 Faculty of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

2 Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU Darmstadt, Germany

Abstract

Nowadays,due to the increase of patients with low mobility,the presence of rehabilitation robots is necessary.To improve design of rehabilitation devices,musculoskeletal models are widely used to analyze interaction forces between human body and assistive devices.In this study,combined model of rehabilitation system with musculoskeletal model of the body has been discussed using Opensim software.This system has already been designed based on Jensen's 1 DOF mechanism with eight links, and has weight supporter system to support the patient's weight.System uses only one actuator for both the left and right sides of the body,which rotates the crank.Interaction forces between the device and the body are investigated.For this purpose,by using kinematic simulations and direct dynamics,movement of the rehabilitation system has been simulated.Then,by static optimization and performing inverse dynamics simulation,the amount of force and torque applied at the points of contact and each joint have estimated.Results show that interaction forces at the point of contact between the user's hip and the seat of the mechanism are 750 Newtons,which is proportional to the weight of the user,which is considered to be 75 kg.Forces and torques obtained at the connection point of the feet with the pedal are 16 Newtons in the vertical direction,which is caused by the weight of the user and the device,and other components are 2 Newtons, which is insignificant compared to the vertical component, as well as torque produced at the place where the pedal is connected to the foot, is 0.01 Nm. Results of this study can be helpful in designing rehabilitation systems.

Keywords

References

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Journal of Solid and Fluid Mechanics
Volume 12, Issue 6
January and February 2023
Pages 1-12

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