Exoskeleton Robot on ASTI

[Alper]

I am designing a rehabilitation-oriented lower limb exoskeleton robot around ASTI. I built exoLegs next to ASTI's legs and I controlled them with IK functions like in ASTI. When I paralyzed ASTI by decreasing the max torques in its joints the exoLegs cannot carry the burden and ASTI loses its balance. How to solve it?

[coppelia]

Hello,

from the picture it is difficult to say what needs to be adjusted. If your exoskeleton has enogh force/torque, then try to increase the mass/inertia of the various exoskeleton items.
Does every physics engine behave in a similar manner?

Cheers