Design of a Passive Exoskeleton for the Upper Extremity through Co-simulation with a Biomechanical Human Arm Model

An approach of designing exoskeletons on the basis of simulation of the exoskeleton and a human body model is proposed in this paper. The new approach, addressing the problem of physical human-exoskeleton interactions, models and simulates the mechanics for both the exoskeleton and the human body, which allows designers to analyze and evaluate an exoskeleton for its functioning, effectively. A simulation platform is developed by integrating a biomechanical model of human body and the exoskeleton. With the proposed approach, two types of exoskeletons with gravity compensating capability are designed for assisting patients with neuromuscular injuries. Results of the design analysis and optimization are included.