excerpt from the book: Biomechatronics, Popovic, Academic Press, Elsevier, 2019. (No of pages 668) ISBN 978-0-12-812939-5 https://doi.org/10.1016/C2016-0-04132-3 Copyright © 2019 Elsevier Inc. All rights reserved. Chapter 11, Pages 305-331

Exoskeletons, Exomusculatures, Exosuits: Dynamic Modeling and Simulation Yunus Ziya Arslan*, Derya Karabulut*, Faruk Ortes*, Marko B. Popovic†

*ISTANBUL UNIVERSITY, ISTANBUL, TURKEY †WORCESTER POLYTECHNIC INSTITUTE,

WORCESTER, MA, UNITED STATES

Abstract

Exoskeleton, exomusculature, and exosuit technologies have been advanced in a highly accelerated

manner in the recent decades. In the first part of this chapter, these device concepts are appropriately

defined and recent progress in this field is briefly reviewed. The second part of this chapter is focused on

dynamic modeling and simulation of musculoskeletal system for exoskeleton designs.

CHAPTER OUTLINE

11.1 Introduction to Wearable Exoskeletons, Exomusculatures, and Exosuits ................................. 305

11.2 Dynamic Modeling and Simulation of the Human Musculoskeletal System for

Exoskeleton Designs .............................................................................................................. 311

11.2.1 Construction of the Musculoskeletal Model ........................................................................311

11.2.2 Modeling of the Muscle-Tendon Unit ..................................................................................313

11.2.3 Model Validation .................................................................................................................316

11.2.4 Motion Analysis ...................................................................................................................318

11.2.5 Exoskeleton .........................................................................................................................319

11.3 Computational Musculoskeletal Modeling and Simulation ..................................................... 320

11.3.1 Scale Tool ............................................................................................................................322

11.3.2 Inverse Kinematics ..............................................................................................................322

11.3.3 Inverse Dynamics ................................................................................................................323

11.3.4 Static Optimization .............................................................................................................324

11.3.5 Integration of the Exoskeleton Dynamics to the Simulation Software ................................324

References .................................................................................................................................... 327

Biomechatronics. https://doi.org/10.1016/B978-0-12-812939-5.00011-2

© 2019 Elsevier Inc. All rights reserved.

[chapter content intentionally omitted]

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