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COBEM 2019
25th International Congress of Mechanical Engineering
HUMAN-EXOSKELETON INTERACTION MODEL APPLIED TO ROBOTIC NEUROREHABILITATION OF LOWER LIMBS
Submission Author:
Denis César Mosconi Pereira , SP
Co-Authors:
Denis César Mosconi Pereira, Polyana Ferreira Nunes, Guido Gómez, Adriano Siqueira
Presenter: Denis César Mosconi Pereira
doi://10.26678/ABCM.COBEM2019.COB2019-0343
Abstract
The objective of this work was to develop a human-robot interaction model with application in the computational simulation of interaction controls applied in robotic rehabilitation of lower limbs of stroke victims. For the development of the interaction model, a computational model of the knee joint of the rehabilitation robot ExoTao was coupled to the Gait2392 neuromusculoskeletal model. An interaction control based on impedance control was simulated with the interaction model, using experimental data of torque and position as input reference. The obtained results was closely to the experimental one, with the maximum position error reached about 2,5\% of the desired motion range, evidencing that the model is effective.
Keywords
Interaction, Stroke, OpenSim
