Interaction modelling for wearable assistive devices

Abstract

An exoskeleton may help healthy older adults stay independent for a longer time by augmenting their torque at weakened joints. Predictive models are useful to develop exoskeletons and assess the effect of exoskeletons on the user. Existing models that predict the effect of exoskeletons on the user use pre-defined motions which do not change when the forces applied by the exoskeleton changes. In this work we have developed and tested a simulation architecture that incorporates the dynamic interaction between the user and the exoskeleton. This allows to predict modified motions due to the influence of the exoskeleton