Scripting assistive device
Posted: Mon Nov 28, 2022 8:41 am
Hi there,
I would like to research the impact of different kinematic chains of assistiv devices with respect to their reduction of metabolic cost.
Basically I will follow the method of the example "Simulation-Based Design to Reduce Metabolic Cost", but with the difference that I would like to model more complex assistive devices as described in the example.
In the attached figure you'll see to different kinematic chains I would like to research. I want to repeat the research for unsupported gait, gait with kinematic chain a) and gait with kinematic chain b). Therefor I wrote a MATLAB script to build up a simple device which consist of a joint attached to the pelvis, a thigh support and shank support connected with a joint, which I've added to the gait10dof18musc.osim.
Building the MATLAB script for the assistive structure I've used the tutorial of "Dynamic Walking Challenge: Go the Distance!" and adapted it for my application.
I have two question which I can not answer.
1. How can I determine the exact length between two joints (e.g. hip_l and knee_l) auf my scaled model? I would like to appie this length to my support structures (e.g. thighSupportLeft).
2. How can I attache my kinematic chain to the pelvis and the talus, to transfer forces through the assistive structure? When I attach the upper part of my structure to the pelvis and the lower part to the talus I ran into issues. The tree view looks a bit odd (two talus_l appear which are not connected), and when I ran CMC I got error message that CMC execution failed.
I would like to research the impact of different kinematic chains of assistiv devices with respect to their reduction of metabolic cost.
Basically I will follow the method of the example "Simulation-Based Design to Reduce Metabolic Cost", but with the difference that I would like to model more complex assistive devices as described in the example.
In the attached figure you'll see to different kinematic chains I would like to research. I want to repeat the research for unsupported gait, gait with kinematic chain a) and gait with kinematic chain b). Therefor I wrote a MATLAB script to build up a simple device which consist of a joint attached to the pelvis, a thigh support and shank support connected with a joint, which I've added to the gait10dof18musc.osim.
Building the MATLAB script for the assistive structure I've used the tutorial of "Dynamic Walking Challenge: Go the Distance!" and adapted it for my application.
I have two question which I can not answer.
1. How can I determine the exact length between two joints (e.g. hip_l and knee_l) auf my scaled model? I would like to appie this length to my support structures (e.g. thighSupportLeft).
2. How can I attache my kinematic chain to the pelvis and the talus, to transfer forces through the assistive structure? When I attach the upper part of my structure to the pelvis and the lower part to the talus I ran into issues. The tree view looks a bit odd (two talus_l appear which are not connected), and when I ran CMC I got error message that CMC execution failed.