Robot-Assisted Physical Simulation of a Shoulder Exoskeleton

The development of exoskeletons requires a long development process that involves multiple stages, including prototyping, testing, and validation. Simulation of exoskeleton behavior can contribute to exoskeleton development and evaluation, e.g., by reducing the number of necessary exoskeleton prototypes and thus accelerating system optimization and evaluation. This paper presents a novel approach to streamline the exoskeleton development process by implementing a physical simulation platform using a collaborative robot (cobot) and Robot Operating System 2 (ROS2). The platform enables real-time haptic feedback and motion support, simulating exoskeleton properties. By using the precision and adaptability of cobots, combined with the modularity and real-time communication of ROS2, the proposed system reduces the need for multiple physical prototypes and extensive testing procedures. Experimental results prove the effectiveness of the platform in simulating shoulder joint movements and forces under various conditions, highlighting its potential to accelerate exoskeleton design cycles. This work contributes to the field by providing a cost-effective, efficient, and reusable framework for exoskeleton physical simulation.