Patent ID: 7251593

Claim:
A simulation system for a combined musculoskeletal and augmentation device system including segments and joints connecting the segments for estimating design of an augmentation device controller, the simulation system comprising: a processor; a memory operable with the processor for storing: a dynamics model of the combined musculoskeletal and augmentation device system receiving computed torques at the joints as inputs and delivering simulated kinematic data of the segments as outputs; the augmentation device controller for control of the augmentation device receiving the simulated kinematic data as inputs and delivering assist torques as outputs; an inverse dynamics module for the musculoskeletal and augmentation device system receiving the simulated kinematic data, desired kinematic data of the segments and the assist torques as inputs and delivering the computed torques; and a muscle force and muscle capacity module receiving the assist torques as inputs and delivering the computed torques as outputs after checking and adjusting the computed torques, wherein in the muscle force and muscle capacity module muscle forces with and without the assist torques are compared in order to assess whether the assist torque of the augmentation device controller helps or hinders motions, wherein the computed torques are adjusted responsive to the augmentation device controller hindering motion, and computed torques not being adjusted responsive to the augmentation device controller helping motion indicating acceptable estimated design of the augmentation device controller.