Design and validation of a human-exoskeleton model for evaluating interaction controls applied to rehabilitation robotics

摘要

Robot-assisted therapy is a promising field in terms of motor rehabilitation for stroke victims. However, the interaction between the user and the robot must be done in a way to ensure patient safety and treatment effectiveness. Several human-robot interaction controls have been proposed in order to meet these requirements. However, testing and validating these controls remain a challenge, requiring physical contact between a user and a robot, which can put the user at risk as well as it can require a reasonable amount of time and resources for preparing such tests. This work proposes the development of a human-robot interaction model based on the Leg6Dof9Musc neuromusculoskeletal model from OpenSim and a simulation environment developed in MATLAB, in order to test the interaction controls developed for the rehabilitation of lower limbs. An impedance control was tested for the swing phase during gait movement and the results proved that the system is feasible and useful, with flexibility, and savings in time and resources, in addition to preventing users and robots from being put at risk during tests of interaction controls.