RoboWalk: augmented human-robot mathematical modelling for design optimization

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