Multicriteria Optimization of Lower Limb Exoskeleton Mechanism
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Published:2023-11-28
Issue:23
Volume:13
Page:12781
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ISSN:2076-3417
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Container-title:Applied Sciences
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language:en
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Short-container-title:Applied Sciences
Author:
Ibrayev Sayat1, Ibrayeva Arman1, Rakhmatulina Ayaulym2, Ibrayeva Aizhan3, Amanov Bekzat1, Imanbayeva Nurbibi1
Affiliation:
1. Joldasbekov Institute of Mechanics and Engineering, Almaty 050010, Kazakhstan 2. Department of Engineering Graphics and Applied Mechanics, Almaty Technological University, Almaty 050012, Kazakhstan 3. Megalabs, Palo Alto, CA 94301, USA
Abstract
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.
Funder
Science Committee of the Ministry of Education and Science of the Republic of Kazakhstan King Abdullah University of Science and Technology
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
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