title: A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons.
abstract: A number of robotic exoskeletons are being developed to provide rehabilitation interventions for those with movement disabilities. We present a systematic framework that allows for virtual prototyping (i.e., design, control, and experimentation (i.e. design, control, and experimentation) of robotic exoskeletons. The framework merges computational musculoskeletal analyses with simulation-based design techniques which allows for exoskeleton design and control algorithm optimization. We introduce biomechanical, morphological, and controller measures to optimize the exoskeleton performance. A major advantage of the framework is that it provides a platform for carrying out hypothesis-driven virtual experiments to quantify device performance and rehabilitation progress. To illustrate the efficacy of the framework, we present a case study wherein the design and analysis of an index finger exoskeleton is carried out using the proposed framework.
authors.forename: Priyanshu
authors.initials: P
authors.lastname: Agarwal
authors.forename: Richard R
authors.initials: RR
authors.lastname: Neptune
authors.forename: Ashish D
authors.initials: AD
authors.lastname: Deshpande
mesh_terms: D003198:Computer Simulation; D004867:Equipment Design; D000067190:Exoskeleton Device; D005385:Fingers / Q000502:physiology; D006801:Humans; D055595:Mechanical Phenomena; D009119:Muscle Contraction; D053580:Muscle Strength; D014584:User-Computer Interface