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[Research on performance optimization method of human-machine physical interaction system considering exoskeleton
Wenyao Qi1,2, Yuwei Yang1,2, Zuyi Zhou1,2
1Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, Tianjin 300384, P. R. China.
Summary
This study optimized knee exoskeleton robots for better comfort and support. Virtual prototypes and genetic algorithms improved the armor layer design, confirming enhanced wearing comfort.
Area of Science:
- Biomechanics
- Robotics
- Materials Science
Context:
- Wearable systems, specifically knee exoskeleton robots, require optimization for user comfort and mechanical support.
- Existing designs often face challenges in balancing load-bearing capacity with wearer comfort.
- Analysis of a relaxation wearable system prototype informed the current research.
Purpose:
- To improve the wearing comfort and bearing effectiveness of knee exoskeleton robots.
- To develop a method for static optimization synthesis of wearable systems.
- To establish a theoretical basis for future exoskeleton prototype development.
Summary:
- A virtual prototype model of a knee exoskeleton system was created.
- A comprehensive wearable comfort evaluation index was developed, considering stress, deformation, and stress node proportion.
- Multi-objective genetic optimization and local optimization of the armor layer topology were performed using static simulation data.
Impact:
- The study confirmed that the optimized system design significantly enhances wearing comfort.
- The findings provide a theoretical foundation for improving the bearing performance and construction of future wearable robotic systems.
- This research contributes to the advancement of comfortable and effective exoskeleton technology.
