RoboWalk: augmented human-robot mathematical modelling for design optimization. Issue 1 (2nd January 2021)

• Record Type: Journal Article
• Authors: Moosavian, S. Ali A.; Nabipour, Mahdi; Absalan, Farshid; Akbari, Vahid
• Is Part Of: Mathematical and computer modelling of dynamical systems. Volume 27:Issue 1(2021)
• Page Start: 373
• Page End: 404
• Publication Date: 2021-01-02
• Subjects: Exoskeleton -- assistive device -- dynamics modelling -- optimization -- particle swarm optimization; Engineering -- Mathematical models -- Periodicals; Computer simulation -- Periodicals; 515.39
• DOI: 10.1080/13873954.2021.1879874
• Languages: English
• ISSNs: 1387-3954

Abstract

ABSTRACT: Utilizing exoskeleton devices to help elderly or empower workers is a growing field of research in robotics. The structure of an exoskeleton can vary depending on user's physical dimensions, joints or muscles targeted for assistance, and maximum achievable actuator torque. In this research, a Human-Model-In-the-Loop (HMIL) constrained optimization technique is proposed to design the RoboWalk lower-limb exoskeleton. RoboWalk is an under-actuated non-anthropomorphic assistive robot, that besides applying the desired assistive force, exerts an undesirable disturbing force leading to the user's fall. The HMIL method uses the augmented human-robot 2D model to take RoboWalk and human body's joint torques into account during optimization. The superiority of HMIL method is proven by comparing the results with other strategies in the literature. Obtained results reveal elimination of the disturbing forces, 2 N.m. reduction in average human knee-joint torque, and significant decrease in the actuator required torque.