Patent Document ID: 20030115031
Application ID: 10280771
Patent Flag: 0

Claim One:
1. A simulation system for a combined musculoskeletal and augmentation device system including segments and joints connecting the segments, the simulation system comprising; 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; an 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 assit torques as inputs and delivering the computed torques; and a muscle force and muscle capacity module for checking and adjusting the raw computed torques from the inverse module, receiving the raw computed torques as inputs and delivering adjusted computed torques as outputs after verification of feasibility and adjustments.