Aug 2026· International Conference on Biomedical Robotics and Biomechatronics· pp. 13-18· 0 citations· 20 references
Abstract
Effective control of lower-limb exoskeletons depends on a comprehensive understanding of both human biomechanics and robotic actuation. We present a modular co-simulation framework that couples a physics-based exoskeleton model in Simscape with a musculoskeletal human model in Open-Sim. The system supports bidirectional, stepwise interaction: joint angles from the exoskeleton model are sent to Open-Sim, which returns corresponding interaction torques for use in the next simulation step. This closed-loop coupling enables the evaluation of assistive control strategies in a physiologically meaningful environment prior to hardware deployment. To demonstrate the framework's utility, we implement the adaptive Central Pattern Generator (CPG) strategy previously established in the literature as a representative case study. The results verify that the co-simulation environment successfully captures the intended closed-loop behavior, such as torque-dependent gait modulation and perturbation recovery. This confirms the platform's efficacy as a versatile tool for testing and refining human-exoskeleton interaction strategies before experimental trials.
This paper presents a comprehensive investigation into a lower-limb assistive exoskeleton robot, with emphasis on structural design and simulation-based analysis. First, the structural design and three-dimensional (3D) modeling of the exoskeleton were completed, establishing a digital model for subsequent dynamic analy...
Qi-Cheng Wu, Mi Zhou, Yi-Bo Hu et al.· International Conference on...· 0 citations
The proposed BS–ST-SMC architecture outperforms classical and traditional robust approaches, particularly in mitigating chattering and managing human–robot interaction uncertainties, particularly in mitigating chattering and managing human–robot interaction uncertainties.
Yukio Rosales-Luengas, Sergio Salazar, Saúl J. Rangel-Popoca et al.· Electronics· 0 citations
This study proposes a hybrid method for pre-design verification of the geometric and biomechanical compatibility of experimentally recorded gait trajectories with a lower-limb exoskeleton. The method integrates joint-space kinematic analysis, CAD-based self-collision detection in a Unity digital twin, anatomical hip an...
A. Obukhov, Nikita Mayorov, D. Teselkin et al.· Robotics· 0 citations
Soft exoskeletons have attracted increasing attention as wearable robotic devices for lower limb rehabilitation and assistive mobility. This study presents an integrated modelling, control, and mechanical design framework for a cable-driven soft exoskeleton operating in the sagittal plane, targeting elderly users with...
Fernando Abel Navarro-Martínez, E. Lugo-González, J. J. Montesinos-García et al.· Applied Sciences· 0 citations
Stroke and neuromuscular trauma constitute a leading global cause of severe long-term upper-limb motor disability. Although rehabilitation robotics has proven effective in inducing activity-dependent cortical neuroplasticity through high-intensity training, a significant translational gap persists between complex labor...
Yensy Valdez García, Ma Alamilla Daniel, Angel Ricardo Licona Rodríguez· International Journal of Com...· 0 citations
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