Modeling and Simulation of Human Walking With Wearable Powered Assisting Device

2013 ◽  
Author(s):  
Siniša Slavnić ◽  
Adrian Leu ◽  
Danijela Ristić-Durrant ◽  
Axel Gräser
Keyword(s):  
Modeling And Simulation ◽  
System Development ◽  
Simulation Software ◽  
Human Walking ◽  
Robot Assisted ◽  
Motion Data ◽  
Rehabilitation System ◽  
Software Modules ◽  
Assisting Device ◽  
Multi Body

For the purpose of developing robot-assisted human walking systems, human and robot walking dynamics are modeled using models of different complexity depending on simulation scenarios in different phases of robotic system development and selected walking parameters to be analyzed. This paper addresses the early modeling and simulation phase of the development of a novel mobile robot-assisted gait rehabilitation system to be used as a demonstrator for a cognitive robot control architecture currently under development. For simulation purposes dynamical models of walking human and powered orthosis are developed in multi-body simulation software (MSC Adams) using the LifeMod plug-in while the control algorithms are developed in Matlab. The paper introduces a novel ROS (Robot Operating System) based communication established between the real system software modules and the simulation environment. The performance evaluation was performed by running the simulation with motion data which were obtained using marker-based motion capture system and which were implemented as ROS node.

A Digital (3D) Reconstruction of a Lost Planetarium

2019 ◽  
Vol 3 (2) ◽  
pp. 91-117
Author(s):  
Ioannis S Diolatzis ◽  
Gerasimos Pavlogeorgatos
Keyword(s):  
3D Reconstruction ◽  
Modeling And Simulation ◽  
3D Modeling ◽  
Planetary System ◽  
Simulation Software ◽  
The Other ◽  
Planetary Motion ◽  
Back Door ◽  
Advanced Knowledge

After many years of research, it has been concluded that Antikythera mechanism is a more complicated device than initially was thought. Recently, the rapidly increasing development of 3D modeling and simulation software, resulted in attempts to recreate the mechanism's 3D construction. These 3D replicas are based on advanced knowledge, gathered by the study of the mechanism remnants or the deciphered inscription on its surfaces. The latest decrypted inscriptions on the back door of the mechanism refers to planetary motion, which might be illustrated by a planetarium formation, which is absent from the remains of Antikythera mechanism. The authors propose a 3D reconstruction of this alleged planetarium, as a possible sequence of the existed mechanism's remains, compatible with the surviving inscriptions. Specifically, the authors introduce a lot of constructional differentiations compared to the other suggested, focusing mainly on measurements accuracy which this planetary system could perform.

MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS

2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Mohammad Afif Ayob ◽  
Wan Nurshazwani Wan Zakaria ◽  
Jamaludin Jalani ◽  
Mohd Razali Md Tomari
Keyword(s):  
Modeling And Simulation ◽  
Inverse Kinematics ◽  
Cad Model ◽  
Robot Arm ◽  
Simulation Environment ◽  
Kinematics Simulation ◽  
Real Robot ◽  
Forward And Inverse Kinematics ◽  
Simulation Results ◽  
Multi Body

This paper presents the reliability and accuracy of the developed model of 5-axis Mitsubishi RV-2AJ robot arm. The CAD model of the robot was developed by using SolidWorks while the multi-body simulation environment was demonstrated by using SimMechanics toolbox in MATLAB. The forward and inverse kinematics simulation results proposed that the established model resembles the real robot with accuracy of 98.99%. 

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