TY - GEN
T1 - Optimal Stiffness Tuning for a Lower Body Exoskeleton with Spring-Supported Passive Joints
AU - Yildirim, Mehmet C.
AU - Sendur, Polat
AU - Soliman, Ahmed Fahmy
AU - Ugurlu, Barkan
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/9
Y1 - 2018/10/9
N2 - This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was created in MSC.ADAMS software. Second, a gradient-descent based algorithm was used to find the optimum value to minimize the ZMP for a range of ankle stiffness values. In order to corroborate the proposed method, simulation experiments were conducted by considering three cases in which different body mass and heights were assigned to the combined human-exoskeleton system. The simulation results indicate that the proposed methodology is effective in order to find the optimum ankle stiffness for the combined human-exoskeleton systems, resulting in reductions in ZMP variations and therefore increasing the balancing ability. As a consequence, it may be possible to reduce the number of active joints in exoskeletons that aim crutch-free 3-D walking motion support.
AB - This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was created in MSC.ADAMS software. Second, a gradient-descent based algorithm was used to find the optimum value to minimize the ZMP for a range of ankle stiffness values. In order to corroborate the proposed method, simulation experiments were conducted by considering three cases in which different body mass and heights were assigned to the combined human-exoskeleton system. The simulation results indicate that the proposed methodology is effective in order to find the optimum ankle stiffness for the combined human-exoskeleton systems, resulting in reductions in ZMP variations and therefore increasing the balancing ability. As a consequence, it may be possible to reduce the number of active joints in exoskeletons that aim crutch-free 3-D walking motion support.
UR - http://www.scopus.com/inward/record.url?scp=85056592001&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2018.8487685
DO - 10.1109/BIOROB.2018.8487685
M3 - Conference contribution
AN - SCOPUS:85056592001
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 531
EP - 536
BT - BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
PB - IEEE Computer Society
T2 - 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Y2 - 26 August 2018 through 29 August 2018
ER -