This work presents the design optimization of the HANDSHAKE multibody model, a full-scale biped-wheeled exoskeleton, conceived in previous works. The ambition of the HANDSHAKE biped-wheeled exoskeleton is to give new locomotion perspectives at people with reduced mobility or people with complete paralysis of the lower body. In this paper, a critical analysis of the multibody simulation of the latest version of the model, performed using MATLAB® and Simulink®, allowed to design and optimize the new multibody model. A comparison of multibody simulation during the walking gait between the new and the latest version of the HANDSHAKE model underlined a reduction of motor torques and power supply in the new model. These results confirm the innovative solution proposed with the HANDSHAKE biped-wheeled exoskeleton.


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    Titel :

    Multibody Analysis and Design Optimization of a Full-Scale Biped-Wheeled Exoskeleton


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Nigido, Giuseppe (Autor:in) / Bonisoli, Elvio (Autor:in) / Muscolo, Giovanni Gerardo (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    23.04.2022


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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