Gait Model with Hip Exoskeleton
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Human experiments with hip exoskeletons often depend on on-board sensing to obtain estimates of joint angle, which may be affected by relative motion between the exoskeleton and the wearer. This model adapts a musculoskeletal gait model to include a hip exoskeleton which can be tracked separately from the human wearer with marker-based motion capture. The modeled exoskeleton represents a hip exoskeleton developed at the Human Robot Systems Laboratory at UMass Amherst under the direction of Dr. Meghan Huber. The modeled exoskeleton has two internal degrees of freedom common to many current hip exoskeletons: 1) The actuated motor angle, corresponding with hip flexion, and 2) A pin joint connecting the motor to the waist harness which passively allows hip ab/adduction. This model was defined so that the rigid body dynamics are generalizable to exoskeletons in use by other research groups.We have also included a sample marker set used in our IROS 2022 and ICRA 2023 studies, which allows for the human kinematics and exoskeleton kinematics to be computed separately, as well as the relative motion between them. <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=2312#pack_2325">Hip Exoskeleton Gait Model </a> : This is a model of a person wearing a unilateral hip exoskeleton, and is adapted from the Gait2354.osim. The exoskeleton is defined as 3 segments corresponding to a waist harness, motor housing, and thigh harness. The motor rotation angle is defined as a 1-DOF pin joint between the motor housing and the thigh harness. A passive ab/adduction hinge common to most current hip exoskeleton designs has also been modeled as a 1-DOF pin joint connecting the motor housing to the waist harness. An additional 6-DOF joint has been added between the waist harness and the pelvis to allow relative motion between these segments to be quantified. The remaining exoskeleton segments do not have joints connecting them to anatomical segments to prevent over-defining the model. </li> </ul>
人体髋关节外骨骼实验通常依赖于机载传感以获取关节角度的估计，该估计可能受到外骨骼与穿戴者之间相对运动的影响。本模型将肌骨格步态模型进行适配，以纳入可独立于人体穿戴者进行标记式动作捕捉的髋关节外骨骼。所建模的外骨骼代表由麻省大学阿默斯特分校人机系统实验室在Meghan Huber博士的指导下研发的髋关节外骨骼。所建模的外骨骼具备许多当前髋关节外骨骼共有的两个内部自由度：1）驱动的电机角度，对应髋关节屈曲；2）连接电机与腰部背带的一铰链连接，该连接被动地允许髋关节外展/内收。此模型被定义为使刚体动力学可推广至其他研究小组使用的各种外骨骼。我们还包含了一个在2022年IROS和2023年ICRA研究中使用的样本标记集，该标记集允许分别计算人体运动学和外骨骼运动学，以及它们之间的相对运动。本项目包括以下软件/数据包： <ul> <li><a href="https://simtk.org/frs?group_id=2312#pack_2325">髋关节外骨骼步态模型</a>：这是穿戴单侧髋关节外骨骼的人的模型，并从Gait2354.osim适配而来。外骨骼被定义为对应腰部背带、电机外壳和大腿背带的三个部分。电机旋转角度被定义为电机外壳和大腿背带之间的1自由度铰链连接。与大多数当前髋关节外骨骼设计通用的被动外展/内收铰链也被建模为连接电机外壳和腰部背带的1自由度铰链连接。在腰部背带和骨盆之间还增加了一个6自由度关节，以量化这些部分之间的相对运动。其余外骨骼部分没有连接到解剖学部分，以避免过度定义模型。</li> </ul>
