Characterization of Kinetic and Kinematic Parameters for Wearable Robotics

Abstract

Abstract. The design process of a wearable robotic device for human assistance requires the characterization of both kinetic and kinematic parameters (KKP) of the human joints. The first step in this process is to extract the KKP from different gait analyses studies. This work is based on the human lower limb considering the following activities of daily living (ADL): walking over ground, stairs ascending/descending, ramp ascending/descending and chair standing up. The usage of different gait analyses in the characterization process, causes the data to have great variations from one study to another. Therefore, the data is graphically represented using Matlab® and Excel® to facilitate its assessment. Finally, the characterization of the KKP performed was proved to be useful in assessing the data reliability by directly comparing all the studies between each other; providing guidelines for the selection of actuator capacities depending on the end application; and highlighting optimization opportunities such as the implementation of agonist-antagonist actuators for particular human joints.

The Assessment of Viscoelastic Models for Nonlinear Soft Materials

“…The implementation of soft materials in robotics applications has always been challenging [1]. This is the case of elastomers that, commonly used in soft robotics, exhibit nonlinear, time-dependent and history-dependent properties which cannot be easily described by mathematical models.…”