Wearable Robot Design Optimization Using Closed-Form Human–Robot Dynamic Interaction Model

• DOI: 10.3390/s24134081
• Publication Date: 2024-06-24T10:59:58Z
• Authors: Erfan Shahabpoor; Bethany Gray; Andrew Plummer
• Keywords: virtual prototyping; Chemical technology; exoskeleton; TP1-1185; Robotics; Walking; Equipment Design; Article; Biomechanical Phenomena; Wearable Electronic Devices; 03 medical and health sciences; 0302 clinical medicine; musculoskeletal simulation; orthosis; Humans; Hip Joint; human model-in-the-loop; optimization; Gait; Ankle Joint

Wearable robots are emerging as a viable and effective solution for assisting enabling people who suffer from balance mobility disorders. Virtual prototyping is powerful tool to design robots, preventing the costly iterative physical testing. Design of wearable through modelling, however, often involves computationally expensive error-prone multi-body simulations wrapped in an optimization framework simulate human–robot–environment interactions. This paper proposes make human–robot link segment system statically determinate, allowing closed-form inverse dynamics formulation link–segment model be solved directly order dynamic The also uses technique developed by authors estimate walking ground reactions reference kinematic data, avoiding need measure them. proposed (a) efficient (b) transparent easy interpret, (c) eliminates optimization, detailed musculoskeletal modelling measuring reaction forces normal simulations. It used optimise position hip ankle joints actuator torque–velocity requirements seven segments lower-limb robot that attached user at shoes pelvis. Gait measurements were carried out on six healthy subjects, data validation. new promises offer significant advance way which can designed.