Cooperativity Model for Improving the Walking-Assistance Efficiency of the Exoskeleton

Area of Science:

• Biomechanics
• Robotics
• Human-Machine Interaction

Background:

• Passive exoskeletons require improved torque transmission for enhanced walking assistance.
• Existing exoskeleton designs lack a clear model for human-exoskeleton torque interaction.

Purpose of the Study:

• To propose and validate a biomechanical cooperativity model for passive exoskeleton design.
• To optimize torque transmission laws between human users and exoskeletons.

Main Methods:

• Developed a cooperativity model based on minimum average dispersion degree.
• Designed and applied an average dispersion degree algorithm using joint angle data.
• Optimized elastic parameters of energy storage components using the model.

Main Results:

• Exoskeletons designed with the cooperativity model demonstrated superior walking-assistance efficiency.
• Optimal parameter tuning resulted in an average walking-assistance efficiency of 14.45% for over 80% of subjects.
• Comparative analysis showed significant improvements in walking assistance compared to non-cooperative designs.

Conclusions:

• The biomechanical cooperativity model effectively enhances passive exoskeleton performance.
• Further refinement of the model's accuracy and efficiency is recommended, particularly concerning the offset principle.