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Dynamic Modeling of a Cable-Driven Series Elastic Upper Extremity Exoskeleton for Post-Stroke Rehabilitation

Authors :

Ali Selk Ghafari¹ Omid Kalantari²

1- دانشگاه صنعتی شریف پردیس بین الملل کیش 2- دانشگاه صنعتی شریف پردیس بین الملل کیش

Keywords :

Human-Robot Interaction،Upper-Limb،Exoskeleton،Series Elastic Actuator،Simscape،Biomechanics

Abstract :

This study presents a dynamic modeling framework for simulating human-exoskeleton interaction in upper-extremity movements using Simscape. An open-loop inverse dynamics simulation was conducted with a one-degree-of-freedom (DOF) exoskeleton designed to assist elbow flexion/extension while allowing natural shoulder motion. The shoulder joint was modeled with compliant properties, and the exoskeleton was actuated via a series elastic actuator (SEA). Simulation results demonstrated close tracking between human and exoskeleton joint angles, with mean errors below 3°. The SEA provided compensatory torque closely matching the estimated human torque deficit at the elbow, while human–robot interaction forces and torques remained within physiologically acceptable ranges. A cyclogram analysis of shoulder-elbow coordination yielded a correlation coefficient of 0.92, with a 15% reduction in loop area compared to unassisted motion, indicating improved efficiency of assisted movements. These findings validate the proposed model as a reliable tool for analyzing upper-extremity human-exoskeleton dynamics and provide insights for controller design and optimization of assistive strategies.