Modeling WAD-Perturbations and Resulting Muscular Responses Using OpenSim

Abstract

Falls are a major global health concern, particularly among the elderly, as they often lead to severe injuries, loss of independence, or even death. In recent years, lower-limb exoskeletons have emerged as a promising solution to improve balance and prevent falls; however, many of these devices still struggle to integrate effectively with the natural biomechanics of the human body. This thesis investigates the physical interaction between a cable-driven wearable assistive device (WAD), capable of actively controlling all three degrees of freedom of the hip joint—flexion, extension, and abduction—and the human user, focusing on the muscular response induced by the exoskeleton’s assistance. Using the OpenSim software, a series of simulations was conducted in which assistive forces were applied to specific anatomical points, varying in direction and intensity. The resulting muscle activations were then carefully analyzed. Thanks to the advanced capabilities of OpenSim, this simulation-based approach provides valuable insight into how wearable devices interact with the human musculoskeletal system, offering a solid foundation for exploring not only mechanical design aspects, but also long-term biomechanical compatibility and user comfort.

Date of Award	2025
Original language	English
Supervisor	Andreas Schrempf (Supervisor)