Hello all! I am working on a school project about an assistive lower limb exoskeleton. But before I must model a single human leg in SimScape for a realistic approach. I have modeled the human leg as a double pendulum in SolidWorks and converted into Simulink environment via SimScape Multibody Link. I am applying Computed-Torque control and have designed a PID Controller. The system follows the trajectory that I am feeding (joint angles from a database) all is good so far. But the generated torques does not match with the human joint torques evaluated by numerous industries during gait analysis.
I am guessing it is because of GRFs. I have the GRF values and tried applying them as a force to the Simscape Model and calculated their torques and add to the controller (even in various combinations). No luck :(
I am asking what should I do to model my system more like a real human leg and/or fit my torque values to given human joint moments as it can be?