Human model in the loop design optimization for RoboWalk wearable device

In this paper, a design optimization approach for assistive devices based on the simulation of the robot and human model is proposed. The proposed human model in the loop (HMIL) approach exploits an augmented human-robot model for interaction analysis, and to evaluate and modify the assistive device...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2021, 35(10), , pp.4685-4693
Main Authors: Nabipour, Mahdi, Moosavian, S. Ali A.
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Constraints
Control
Design optimization
Design parameters
Dynamical Systems
Engineering
Human engineering
Industrial and Production Engineering
Mechanical Engineering
Multiple objective analysis
Original Article
Particle swarm optimization
Robots
Vibration
Wearable technology
기계공학
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Summary:In this paper, a design optimization approach for assistive devices based on the simulation of the robot and human model is proposed. The proposed human model in the loop (HMIL) approach exploits an augmented human-robot model for interaction analysis, and to evaluate and modify the assistive device effectiveness. In this regard, a lower-limb assistive device (RoboWalk) for elderly and a human skeletal system are modeled and augmented to use the human-robot interaction forces in the proposed HMIL strategy. Due to the particular design of RoboWalk, a complete set of constraints are specified to ensure the solution feasibility and compatibility of the device in different poses. This constrained optimization problem is solved by weighted sum particle swarm optimization (WSPSO) and multi-objective PSO (MOPSO) algorithm. As a result of this optimization, several appropriate sets of design parameters are found to minimize the load on human joints, actuator torque and mass. Among the obtained optimal points, the point minimizing an introduced index is selected as the final design.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-021-0935-z