On the Optimal Selection of Motors and Transmissions for a Back-Support Exoskeleton

Abstract

High performance of an exoskeleton depends on torque/force tracking in a proper way according to human motion. Hence, because of the importance of actuator systems in wearable robots which usually include electrical motors and transmissions, this paper proposes a solution for selection of these components for an upper-body exoskeleton. In order to perform an optimization procedure, the dynamic model of the system has been developed analytically. Accordingly, optimization criteria in terms of closed-loop system bandwidth, system power consumption and component weights have been formulated by taking technical limitations into account. Extensive simulation results are presented in order to make comparison among possible optimization results.