Software to model hip-knee-ankle exoskeleton assistance during walking

Here is software developed for Stanford's ME 485 course. The files here have been adapted for modeling hip-knee-ankle exoskeleton assistance during walking using ideal torque actuators. It is currently implemented to optimize to reduce activations-squared. Metabolic cost can then be calculated from the results of the optimization.

This project utilizes the optimal muscle control framework from De Groote et al 2016: which in turn utilizes GPOPS-II optimal control software and adigator. Experimental data and some software adapted from The model was adapted from Ong et al. 2017 (check confluence page below for full references).

More information on this project can be found at: