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.
Multibody Analysis and Design Optimization of a Full-Scale Biped-Wheeled Exoskeleton
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
23.04.2022
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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