First Steps of Creating a Simulation Environment in OpenSim to Design a Control Method for a Novel Soft Robotic Exoskeleton.

Abstract

Movement coordination disorders can originate from congenital abnormalities, traumatic injuries, or severe infections. These conditions can manifest in various ways, such as hypertonia, hypotonia, and involuntary movements, significantly impairing an individual's ability to perform daily tasks. This research focuses on the development of a soft exoskeleton designed to enhance the quality of life for individuals with cerebral palsy, particularly those affected by athetosis - a condition marked by involuntary, fluctuating muscle tone and associated balance challenges. The exoskeleton aims to provide conductive education (also known as the Petó method) for maintaining motor functions and facilitating precise movements, thereby contributing to the social and professional integration of individuals living with mobility disorders. This manuscript emphasizes the simulation phase of the exoskeleton development, which supports the physical design process through numerous iterative cycles. During the research, we utilized three different movement data sources, we developed a whole and a partial simulated model (reduced degree-offreedoms) of our real exoskeleton, and investigated two different control methods in simulation. At the end of the day we achieved a qualitatively similar behavior in simulation what we produced with the physical exoskeleton at its current development stage.