Research on the Influence of Exoskeletons on Human Characteristics by Modeling and Simulation Using the AnyBody Modeling System

Lower limb-powered exoskeletons can help rehabilitate patients with lower limb disabilities. However, the changes in the biomechanical load on the human body when exoskeletons are used are still poorly understood. The goal of this study was to investigate the changes in kinematic and biomechanical parameters of the lower extremity exoskeleton when worn by normal subjects and patients with unilateral motor impairment using a virtual prototype. The effect of wearing the exoskeleton on gait was derived, and the basis for exoskeleton optimization was given. Virtual prototyping is a cost-effective method to validate the performance of exoskeleton robots. Therefore, two models, a human-exoskeleton model and an asymmetric movement disorder (SSP) subject-exoskeleton model, were developed in AnyBody software for this study. The human-exoskeleton model was driven by the kinematic data of 20 healthy participants walking in an exoskeleton at normal speed (3.6 km/h). As a comparison, the SSP subject-exoskeleton model was driven by data from five SSP subjects walking in an exoskeleton. The experimental results show that after wearing the lower limb exoskeleton, the walking gait satisfies the normal human gait characteristics, but some of the muscle forces suddenly increase. The maximum activation level does not exceed 1, which means that the exoskeleton does not cause muscle damage or fatigue in a short period of time. In both models, the vertical ground reaction force (GRF) Z correlation was the strongest (R > 0.90). The center of pressure (COP) X trajectory correlation was the weakest (R < 0.35). These findings will support the study of the effects of exoskeletal optimization. Also, some gait characteristics of exoskeletons worn by patients with unilateral dyskinesia can be initially explored.