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ㆍProduct: Wearable Robot

ㆍAnalysis Goal: Establishment of a dynamic model of human body and wearable robot for checking the range of motion of the designed product and verifying the control model

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Establishing a dynamic model of human body is essential in order to design dynamic model of wearable robot that a human can actually wear. Also, whether the robot can take all the necessary postures in various situations must be checked.

This is done by estimating necessary torques of robot actuators according to the human body movements after attaching the wearable robot to the human body model and by checking the ROM (Range of Motion) of each joint.

Lastly, the performance of the controller must be checked by co-simulation of the actuator control model and the dynamic model.

Process

① Acquisition of human body motion data, creation of the human body model through a human body program called 'Bio-motion', and inputting of motion data

② Implementation of a dynamic model after importing the previously generated human body model to RecurDyn

③ Attaching a wearable robot to a human body using bushings and execution of dynamic analysis of the human body movements → Acquisition of motion results of the wearable robot

④ Dynamic analysis after inputting of Ground Reaction Force (GRF) and the motion data of the wearable robot

⑤ Acquisition of required torque data of the wearable robot actuator and the range of motion (ROM) of the robot joints

⑥ Building a control model linkage using displacement and speed data of the actuator of the wearable robot and conducting co-simulation

Key Technologies for Analysis

ㆍ Creation of a dynamic model of human body using RecurDyn and Bio-motion

ㆍ Attachment of a wearable robot to a human body with a strap and dynamic modeling of the wearable robot

ㆍ Customization through ProcessNet in order for the post-processing of dynamic result and the application of various human body motion measurement data

ㆍ Co-simulation of the dynamic model and Simulink control model

Toolkits

ㆍRecurDyn/Professional

ㆍRecurDyn x Simulink Co-simulation (RecurDyn/Control) or CoLink

ㆍProcessNet

The Problems that Customers are Facing

• Repair cost for product breakage during test process which is dicult to predict in the early stage

• Risk to a person wearing the prototype

• Excessive time and cost to repeat test processes every time the design changes (layout, actuator capacity, range of motion)

• Need for validation of wearable robot using various physical appearance of human body model

Solutions

• Dynamic model creation including human body model to validate load torque of each joint

• Simulation using realistic and various human body models

• Cost reduction for prototype manufacturing through virtual validation of actuator capacity and range of motion

Outcomes

ㆍAfter a human model ‘which takes into consideration the torque actuator that is loaded on each joint’ was brought to RecurDyn, a dynamic model was established

ㆍThe torque and motion range of joints required for a robot for each assigned motion can be estimated; proposed the motion range of actuator based on this estimation

Other Applications

◀ Analysis of a robot that can climb stairs

ㆍDesign of a controller in order to prevent a robot from falling down

ㆍDetermination of motor capacity required to operate a robot