Methodology for integrated design optimization of actuation systems for exoskeletons
Publication date
2024-10-25
Document type
Forschungsartikel
Organisational unit
Scopus ID
Publisher
MDPI AG
Series or journal
Robotics
ISSN
Periodical volume
13
Periodical issue
11
Article ID
158
Peer-reviewed
✅
Part of the university bibliography
✅
Language
English
Keyword
actuation system
design optimization
exoskeletons
flexible linear actuator
integrated design
dtec.bw
Abstract
The engineering of actuation systems for active exoskeletons presents a significant challenge due to the stringent demands for mass reduction and compactness, coupled with complex specifications for actuator dynamics and stroke length. This challenge is met with a model-based methodology. Models for human body, exoskeleton and parametric actuation systems are derived and coupled. Beginning with an inverse dynamics human body simulation, loads in human joints are estimated, and the corresponding support torques are derived. Under the assumption of a control law ensuring these support torques, an optimization problem is stated to determine actuation system parameters such as the number of stator coils and number of battery cells. Lastly, results from the optimization are validated using sophisticated models. The methodology is applied to an exemplary exoskeleton and compared to an approach derived from previous studies.
Description
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Version
Published version
Access right on openHSU
Open access