Development of a Flexible Algorithm for Simulations with Human-Exoskeleton Models: An Approach to the Robot-Assisted Therapy

Robot-assisted therapy is a promising approach to overcome the challenge that is to recover the motor capabilities of cerebrovascular accident victims. Simulation algorithms are widely used for the development of robots and controls used in this type of therapy. However, such algorithms are of specific use, needing for ones that are both flexible and able to simulate not only the robot performance, but also human behavior and its interaction with the machine. In this work we proposed a flexible simulation algorithm useful to perform analysis, assessment and development of human-interaction controls applied to robotic neurorehabilitation. Simulations using experimental data were performed, proving that the algorithm is effective and also a promising approach for the development of features related to the recovery of motor skills lost due to stroke.