Robotic Design and Modelling of Medical Lower Extremity Exoskeletons

Öz

This study aims to explain the development of the robotic Lower Extremity Exoskeleton (LEE) systems between 1960 and 2019 in chronological order. The scans performed in the exoskeleton system’s design have shown that a modeling program, such as AnyBody, and OpenSim, should be used first to observe the design and software animation, followed by the mechanical development of the system using sensors and motors. Also, the use of OpenSim and AnyBody musculoskeletal system software has been proven to play an essential role in designing the human-exoskeleton by eliminating the high costs and risks of the mechanical designs. Furthermore, these modeling systems can enable rapid optimization of the LEE design by detecting the forces and torques falling on the human muscles.

Anahtar Kelimeler

• AnyBody
• LEE
• Rehabilitation
• Modeling
• Exoskeleton

Robotik Alt Ekstremite Dış İskeletlerin Modellenmesi ve Tasarımı

Öz

Bu çalışmanın amacı, 1960-2019 yılları arasında robotik Alt Ekstremite Dış İskelet (LEE) sistemlerinin gelişimini kronolojik sırayla açıklamaktır. Dış iskelet sisteminin tasarımında yapılan taramalar, öncelikle tasarım ve yazılım animasyonunu gözlemlemek için AnyBody ve OpenSim gibi bir modelleme programının kullanılması gerektiğini, ardından sensörler ve motorlar kullanılarak sistemin mekanik olarak geliştirilmesi gerektiğini göstermiştir. Ayrıca OpenSim ve AnyBody kas-iskelet sistemi yazılımlarının kullanımının, mekanik tasarımların yüksek maliyet ve risklerini ortadan kaldırarak insan-dış iskelet tasarımında önemli rol oynadığı kanıtlanmıştır. Ayrıca, bu modelleme sistemleri, insan kaslarına düşen kuvvetleri ve torkları tespit ederek LEE tasarımının hızlı optimizasyonunu sağlayabilir.

Anahtar Kelimeler

• Modelleme
• Rehabilatasyon
• Dış İskelet
• AnyBody
• AEDİ

Kaynakça

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