Upper-limb human-exoskeleton simulation using MuJoCo

This repository contains an implementation of the paper [1]:

[1] S. Tesfazgi, R. Sangouard, S. Endo, S. Hirche. "Uncertainty-aware automated assessment of the arm impedance with upper-limb exoskeletons" in Frontiers in Neurorobotics, 2023 paper

New on the project?

Open the setup_guide folder and follow the specific README!

Want to learn more about mujoco-py / project's modules?

Open the src_py folder and follow the specific README!

General architecture of this project

The content of the root directory is presented below:

├── bin
├── data
├── models
├── setup_guide
├── src_py
├── static
├── .gitignore
├── README.md
├── requirements.txt
├── simulate.sh
└── xacro.sh

Let's describe each of those items concisely:

• bin: Target directory for all files generated in this project (see bin/README.md for more details).
• data: Directory containing all external data used in this project. Its content is gitignored.
• models: Directory containing all xml and xacro models of the project (see models/README.md for more details).
• setup_guide: Directory containing a guide and demos to bootstrap this project on a new device.
• src_py: Directory containing all Python modules of this project (see src_py/README.md for more details).
• static: Directory containing all static resources of the project, like exoskeleton meshes.
• .gitignore: The main .gitignore of this project.
• README.md: The documentation of this project (basically what you are currently reading).
• requirements.txt: Requirement file of the Python environment used in this project.
• simulate.sh: Bash script allowing to simulate MJCF model using vanilla MuJoCo simulator.
• xacro.sh: Bash script allowing to parse .xacro models into valid .xml models. It is highly recommended to read bin/README.md before trying xacro.sh.

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References

If you found this software useful for your research, consider citing us.

@ARTICLE{Tesfazgi23,
AUTHOR={Tesfazgi, Samuel  and Sangouard, Ronan  and Endo, Satoshi  and Hirche, Sandra },
TITLE={Uncertainty-aware automated assessment of the arm impedance with upper-limb exoskeletons},
JOURNAL={Frontiers in Neurorobotics},
VOLUME={17},
YEAR={2023},
DOI={10.3389/fnbot.2023.1167604},
ISSN={1662-5218}}