Man-machine interaction simulation of four-bar linkage lumbar spine therapeutic instrument based on OpenSim and MATLAB

The smart wearable cervical/lumbar spine exoskeleton therapeutic instrument is a therapeutic instrument designed for patients with spine degenerative disease. This paper introduces the algorithm and verification of a compliant control strategy used to control this therapeutic instrument that has four-bar linkage mechanism. The admittance control strategy is adopted in the controlling process and uses different algorithm for different treatment mode. The verification of effectiveness of this control strategy is realized by joint simulation of OpenSim and MATLAB.