Multicriteria Optimization of Lower Limb Exoskeleton Mechanism
Ibrayev S. Ibrayeva A. Rakhmatulina A. Ibrayeva A. Amanov B. Imanbayeva N.
December 2023Multidisciplinary Digital Publishing Institute (MDPI)
Applied Sciences (Switzerland)
2023#13Issue 23
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees of freedom. The use of heavy servo-motors to handle torque in active joints results in complex and bulky designs, as highlighted in the existing literature. In this analytical study, we introduced a novel synthesis method with analytical solutions provided for synthesizing the lower-limb exoskeleton. Furthermore, we proposed a mathematical model of multicriteria optimization; as a result, we obtained several lower-limb exoskeleton mechanisms comprising only six links, well-suited to the human anatomical structure, exhibit superior trajectory accuracy, efficient force transmission, satisfactory step height, and having internal transfer segment of the foot.
lower-limb exoskeleton , mechanism design , mechanism synthesis , optimization
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Joldasbekov Institute of Mechanics and Engineering, Almaty, 050010, Kazakhstan
Department of Engineering Graphics and Applied Mechanics, Almaty Technological University, Almaty, 050012, Kazakhstan
Megalabs, Palo Alto, 94301, CA, United States
Joldasbekov Institute of Mechanics and Engineering
Department of Engineering Graphics and Applied Mechanics
Megalabs
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