This is a simulation project for a wearable body weight support exoskeleton by using the combined environment of Matlab and OpenSim.
Platform: win10, Matlab R2019a, OpenSim 4.0-2018-08-27-ae111a49
Step 1: Setting up Matlab scripting environment. Please refer to the documents of OpenSim.
Step 2: Open the Matlab, run Main.m.
Tips:
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Folder ExoGeometry1 holds the geometries of exoskeleton parts.
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Folder Geometry holds the parts of human model.
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The human-robot model is built in Main.m.
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Simulate3.m is the entrance of the simulation. The simulation time is set as 10.5s. The simulation will begin at 1.5s.
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The human movement is given in setNewState3.m.
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Control method runs in ExciteCalculate_Stance.m.
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FCMAC.m is the fuzzy CMAC controller.
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The Control quantity is given to actuators in AddPoint.m.