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

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 humanexoskeleton 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. A human-centered design optimization approach of designing exoskeletons through biomechanics simulation is proposed.An integrated bio-exoskeleton model by combining an exoskeleton with a biomechanical arm model was built.The reactions of the biomechanical human arm to the exoskeleton were calculated in terms of muscle activity.The design approach was evaluated through two passive exoskeletons with gravity compensating mechanisms.Design parameters of elastic elements in the exoskeleton were optimized through a genetic algorithm.