Interaction forces between user & device

Compute interaction forces at the human-exoskeleton interface. Import the CAD (computer aided design) model of your wearable assistive devices, robots, and both passive- and active exoskeleton device using AnyBody Exporter for SOLIDWORKS®. Simulate the physical human robot interface using rigid-body contact forces or advanced methods capable of simulating stiffness at the interface. Investigate how different mechanical design parameters can affect the user and use simulation studies as in-silico evidence of the efficacy and safety of your assistive device.


  • Augment laboratory and field studies with biomechanical analyses.
  • Use simulation studies as in-silico evidence of the efficacy and safety of your device.
  • Supplement functional and safety portfolio of your device with simulations studies.
  • Test your assistive device’s fit and support through population-based simulations.
  • Assessing the efficiency of exoskeletons
  • Investigate how different mechanical design parameters can affect the user
  • Optimize the design of an industrial exoskeleton by studying the interaction between the human and the exoskeleton.
  • Evaluate changes in the internal body loads (e.g., muscle activities, joint reaction forces, compression forces, moments, impulse etc.)

“The AnyBody Modeling System can simulate trunk muscles that cannot otherwise be measured by normal myoelectricity. In addition, it can calculate joint forces that cannot be captured easily, which makes the software essential for correct estimation of the effect of our exoskeleton. The results and visualizations are additionally used in our promotional videos and has received great feedback from our customers.”

Daigo Orihara, CEO Innophys Co., Ltd.

Selected papers

  • Fritzsche L, Galibarov P, Gärtner C, Bornmann J, Damsgaard M, Wall R, Schirrmeister B, Gonzalez-Vargas J, Pucci D, Maurice P (2021), “Assessing the efficiency of exoskeletons in physical strain reduction by biomechanical simulation with AnyBody Modelling System“, HAL.
  • Zhang L, Liu Y, Wang R, Smith C, Gutierrez-Farewik EM (2021), “Modeling and Simulation of a Human Knee Exoskeleton’s Assistive Strategies and Interaction“, Front. Neurorobot., vol. 15, pp. 13. [DOIWWW]
  • Chander DS, Cavatorta MP (2020), “Modelling Interaction Forces at a Curved Physical Human-Exoskeleton Interface“, In: Hanson L, Högberg D, Brolin E (Ed): Advances in Transdisciplinary Engineering series 11, pp. 217-225. [DOI]
  • Smith AJJ, Fournier BN, Nantel J, Lemaire ED (2020), “Estimating upper extremity joint loads of persons with spinal cord injury walking with a lower extremity powered exoskeleton and forearm crutches“, J. Biomech., vol. 107, pp. 109835. [DOI]
  • Chander DS, Cavatorta MP (2019), “Modelling friction at the mechanical interface between the human and the exoskeleton“, International Journal of Human Factors Modelling and Simulation, vol. 7, pp. 119-136. [DOIWWW]
  • Tröster M, Schneider U, Bauernhansl T, Rasmussen J, Andersen MS (2018), “Simulation Framework for Active Upper Limb Exoskeleton Design Optimization Based on Musculoskeletal Modeling“, In: Smart ASSIST, pp. 345-353.