Efficiency, optimality, and selection in a rigid actuation system with matching capabilities for an assistive robotic exoskeleton

Abstract

Selecting the right actuator for a portable exoskeleton involves a comprehensive evaluation of various design characteristics. In this study, we introduce a methodology for actuator selection based on specific tasks, enhancing the practical adoption of portable exoskeletons. By examining a range of candidate actuators designed for lower limb exoskeletons, our objective is to engineer a system that is both lightweight and power-efficient. These candidate actuators, developed by integrating diverse motors and transmission systems, were rigorously tested against defined tasks. Our methodology, applied to an assistive exoskeleton catered to the elderly, showed its potential in tailoring an efficient system with matching capabilities. The obtained results indicated that the ideal configuration achieved reductions in weight and power requirements by 35% and 80%, respectively. The present research delineates a strategic approach for actuator selection in portable exoskeletons, contributing to the evolution of high-performing assistive devices.

Keywords

• Actuators
• Assistive robotics
• Dynamic modeling
• Mathematical simulation
• MATLAB software
• Optimization algorithm