NDLI: ExoOpt - A framework for patient centered design optimization of lower limb exoskeletons

Content Provider	IEEE Xplore Digital Library
Author	Koch, H. Mombaur, K.
Copyright Year	2015
Description	Author affiliation: ORB-IWR, Heidelberg Univ., Heidelberg, Germany (Koch, H.; Mombaur, K.)
Abstract	Powered exoskeletons have widespread future rehabilitation, medical and military applications. Current exoskeletons are challenging to use. They dynamically influence the human user such that he has to adapt his motions to the exoskeleton. This is due to the fact that the potential arising from an optimal integration of mechanics, electronics and control software has not been fully exploited during the design phase. In addition, interaction with the human user has not been considered to a full extent. We have developed an integrated design approach - implemented in the framework ExoOpt - that uses whole-body optimal control to simultaneously simulate a person and the exoskeleton he is wearing. Using this approach we have completed an optimal control study for a series of human and exoskeleton masses and inertias to identify the required kinematics and actuation of the exoskeleton during level-ground and slope walking. Our results can give important insights for the choice of actuators and the structural loads to be expected in the exoskeleton. They also show how much would be lost in terms of motion imitation capabilities if certain actuators such as the inversion/eversion direction of the ankle were replaced by a passive component. The presented approach is very flexible and can be applied to perform optimality studies to adjust geometry and mass distribution of exoskeletons, and can also be extended to other exoskeleton configurations.
Starting Page	113
Ending Page	118
File Size	935877
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281185
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Legged locomotion Torque Exoskeletons Kinematics Joints Hip
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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