Design optimization on passive exoskeletons through musculoskeletal model simulation

摘要

Exoskeleton is a new trend of robotic applications for the human welfare. Designing exoskeletons encounters many challenges including structure design, actuation configuration, human-exoskeleton interactions, and coupling to human limbs. In this paper, an approach of designing robotic exoskeletons on the basis of simulation a musculoskeletal human body model is proposed. Symptoms of neuromuscular injuries are simulated through deactivating particular muscles in the model. An exoskeleton model is integrated with the musculoskeletal model to evaluate design parameters and human body's reaction to the exoskeleton. Optimization method is adopted to determine optimal design parameters and performance of the exoskeleton.