RoboWalk: augmented human-robot mathematical modelling for design optimization

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.

Swift augmented human–robot dynamics modeling for rehabilitation planning analyses

“…In order to validate the presented numerical model, it is compared with another method by calculating human dynamics and kinematics. The method selected for validation is the nonrecursive method described in [50]. In this method, the FRF and human-robot interaction forces are the main external forces applied to the user.…”

“…M represents a 10×10 inertia matrix in this equation, whereas C and Q are 10×1 vectors. When the human is considered a floating body with no interaction with the environment, C represents Coriolis, centrifugal, and gyration effects, G represents the gravity effects, and Q is equivalent to 𝐷𝜏 [50]. In this case, D and 𝜏 are defined as follows:…”

Advances on mechanical designs for assistive ankle-foot orthoses

“…The straightforward configuration is composed of a rigid transmission between the actuator and the orthosis structure (Choi et al, 2018;de Miguel-Fernandez et al, 2022b;a;Moosavian et al, 2021;Huo et al, 2019;Kim et al, 2020;Li et al, 2011;Shorter et al, 2011;Yeung et al, 2017;Yeung et al, 2018;Yeung et al, 2021) (Figure 3). This configuration aims at ensuring the proper delivery of the torques and forces generated by the actuators.…”