Optimization of design parameters and improvement of human comfort conditions in an upper-limb exosuit for assistance

IF 2.6 2区 工程技术 Q2 MECHANICS
Yaodong Lu, Yannick Aoustin, Vigen Arakelian
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Abstract

Exoskeleton robots have a wide range of applications in industrial field as well as for patients with locomotor disability. Among them, the flexible exoskeleton, known as “exosuit”, has attracted great interest from researchers. They are usually made up of flexible components such as cables and pieces of fabric. Since there are no rigid frames and links in the exosuits, they are much lighter and have less misalignment problems than the rigid exoskeletons. However, excessive pressure exerted by cables on soft tissues and skeleton of the human will lead to discomfort or even injuries. In this paper, a cable transmission system is incorporated into the exosuit system for gravitational compensation. The human body is assumed to be upright in the cable-driving wearable robot modeling. Then, a multi-criteria optimization approach, based on swarm intelligence, has been developed and adopted for reducing the uncomfortable forces applied on the user. Furthermore, the energy consumption is also taken into account in the design phase. Numerical simulation results demonstrate that the proposed exosuit design results in a reduction of more than 50% and 34% in the forces exerted on human body with loads of 0.5 kg and 5 kg, respectively. The energy loss was also reduced by up to 63% and 21% in these two cases.

Abstract Image

优化设计参数,改善上肢辅助外衣的人体舒适度
外骨骼机器人在工业领域和运动残疾患者身上有着广泛的应用。其中,被称为 "外骨骼服 "的柔性外骨骼引起了研究人员的极大兴趣。它们通常由电缆和织物等柔性部件组成。由于外骨骼中没有刚性框架和链接,因此比刚性外骨骼更轻,也更少出现错位问题。然而,缆绳对人体软组织和骨骼施加的压力过大,会导致人体不适甚至受伤。本文在外骨骼系统中加入了缆索传输系统,用于重力补偿。在缆索驱动可穿戴机器人建模中,假定人体是直立的。然后,开发并采用了一种基于蜂群智能的多标准优化方法,以减少施加在用户身上的不舒适力。此外,在设计阶段还考虑了能耗问题。数值模拟结果表明,在负载分别为 0.5 千克和 5 千克的情况下,拟议的外衣设计可将施加在人体上的力分别减少 50%和 34%以上。在这两种情况下,能量损失也分别减少了 63% 和 21%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
CiteScore
6.00
自引率
17.60%
发文量
46
审稿时长
12 months
期刊介绍: The journal Multibody System Dynamics treats theoretical and computational methods in rigid and flexible multibody systems, their application, and the experimental procedures used to validate the theoretical foundations. The research reported addresses computational and experimental aspects and their application to classical and emerging fields in science and technology. Both development and application aspects of multibody dynamics are relevant, in particular in the fields of control, optimization, real-time simulation, parallel computation, workspace and path planning, reliability, and durability. The journal also publishes articles covering application fields such as vehicle dynamics, aerospace technology, robotics and mechatronics, machine dynamics, crashworthiness, biomechanics, artificial intelligence, and system identification if they involve or contribute to the field of Multibody System Dynamics.
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