Measurement-Based Optimization of a Lightweight Upper-Extremity Rehabilitation Exoskeleton for Task-Oriented...

Area of Science:

• Biomedical Engineering
• Robotics
• Rehabilitation Technology

Background:

• Physiotherapy increasingly utilizes technological tools for neurological conditions.
• Rehabilitation robots, including exoskeletons, aid in complex motion therapy.
• Lightweight exoskeletons are crucial for convenient home-based kinesiotherapy.

Purpose of the Study:

• To develop and present a methodology for significantly reducing exoskeleton mass.
• To optimize exoskeleton design for home-like environments and patient use.
• To validate the mass reduction methodology on the SmartEx-Home exoskeleton.

Main Methods:

• A multi-step optimization process involving parametric optimization, topology optimization, and finite element method (FEM) analysis.
• Real-life data-driven motion simulations and multibody dynamics simulations.
• Sequential optimization steps for initial design, feature extraction, and final geometry adjustment.

Main Results:

• Achieved an almost 50% mass reduction in the main construction elements of the SmartEx-Home exoskeleton.
• Ensured all components met minimum safety factor and maximum stress/strain criteria.
• The optimized exoskeleton design was successfully manufactured and tested with human subjects.

Conclusions:

• The presented methodology effectively reduces exoskeleton mass while maintaining structural integrity.
• Lightweight exoskeletons are feasible for advanced passive and active home-based physical therapy.
• This approach supports the development of more accessible and user-friendly rehabilitation devices.