A human-centered design optimization approach for robotic exoskeletons through biomechanical simulation

作者：Zhou, Lelai; Li, Yibin^*; Bai, Shaoping

来源：Robotics and Autonomous Systems, 2017, 91: 337-347.

DOI：10.1016/j.robot.2016.12.012

• Assistive exoskeleton
• Human-centered design optimization
• Biomechanics
• Human-robot interaction

A design optimization approach for exoskeletons on the basis of simulation of the exoskeleton and a human body model is proposed in this paper. The human-centered approach, addressing the problem of physical human-exoskeleton interactions, models and simulates the mechanics for the exoskeleton and the human body in concern. It allows designers to efficiently analyze and evaluate exoskeleton functions. A simulation platform is developed by integrating a musculoskeletal human body and an exoskeleton. An assistive exoskeleton for the symptom of brachial plexus injury is simulated and analyzed. Two types of passive exoskeletons with gravity-compensating capability are evaluated, and the optimal spring stiffnesses are obtained. The design analysis and optimization results demonstrate the effectiveness of the approach.

• 出版日期2017-5
• 单位山东大学