Study to Increase the TRL of Exoskeleton ERMIS Based on a Methodology to the Identification of Real Performance Parameters

Many exoskeletons in scientific communications and patents only reach a technology readiness level corresponding to an experimental physical model (EPM) or low-fidelity prototype. While operational laboratory environment, the increasing (TRL) is not widely studied. This work presents study this aim based on new methodology that includes two phases, eleven steps, four case studies from EPM (TRL3) of ERMIS up TRL 5 ERMIS. The results article show increase analysis parameters exoskeleton. validation passive rehabilitation movements was made by characterizing points their trajectories assisted anthropomorphic mechanism used measure end-effector position means acquisition data, obtaining error 20 mm. In conclusion, real performance are detailed, explaining causes according behavior exoskeleton environment operating studies. It group 5, which were validated Computer-Aided Design (CAD) software.