RoboWalk: augmented human-robot mathematical modelling for design optimization

S. Ali A. Moosavian, Mahdi Nabipour, Farshid Absalan and Vahid Akbari

Mathematical and Computer Modelling of Dynamical Systems, 2021, vol. 27, issue 1, 373-404

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.

Date: 2021
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/13873954.2021.1879874 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:nmcmxx:v:27:y:2021:i:1:p:373-404

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/NMCM20

DOI: 10.1080/13873954.2021.1879874

Access Statistics for this article

Mathematical and Computer Modelling of Dynamical Systems is currently edited by I. Troch

More articles in Mathematical and Computer Modelling of Dynamical Systems from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().