Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Bipedal human-exoskeleton model for simulations of squat-to-stand movement
Submission Author:
Denis César Mosconi Pereira , SP
Co-Authors:
Denis César Mosconi Pereira, Adriano Siqueira
Presenter: Adriano Siqueira
doi://10.26678/ABCM.COBEM2023.COB2023-0131
Abstract
Exoskeleton-type robots have been increasingly used in the fields of medicine, industry, military and domestic, in order to promote rehabilitation, assistance and human empowerment. However, movements considered simple by a human being can be very complex for a robot to perform, so it is important to study the human-exoskeleton interaction for the most diverse possible movements. One of these movements is the squat-to-stand, which can be performed many times during the day to perform tasks, lifting weights and loads, getting out of bed when waking up or from a chair after a meal. One way to study the human-exoskeleton interaction is through the use of computational simulations, with interaction models that can represent the human neuromusculoskeletal system interacting with actuators representing those of an exoskeleton. Thus, the objective of this work was to propose a model of human-exoskeleton interaction, bipedal, with foot-ground interaction through contact forces, focused on simulations of squat-to-stand movements, useful for understanding the robot's interaction with the user in this type of movement, allowing to understand how occurs the muscle recruitment, the application of torque by the robot and the movement of the joints, during the entire displacement of the user between the two poses (squat and stand). Predictive simulations were performed and the results obtained were the movement performed, the torque applied by the exoskeleton and muscle activations. Such results allowed inferring that the model is feasible, useful for squat-to-stand simulations and capable of allowing the understanding of human-robot interaction for this type of movement.
Keywords
Interaction model, Biomechanical simulation, sit-to-stand movement
