Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints

Name: Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
Author: Yıldırım, Mehmet Can, Şendur, Polat, Soliman, Ahmed Fahmy, Uğurlu, Regaip Barkan

İsim	Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
Yazar	Yıldırım, Mehmet Can, Şendur, Polat, Soliman, Ahmed Fahmy, Uğurlu, Regaip Barkan
Basım Tarihi:	2018-10-09
Basım Yeri	- IEEE
Konu	Solid modeling, Hip, Exoskeletons, Legged locomotion, Optimization, Mathematical model, Trajectory
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-153868183-1
Kayıt Numarası	0e12ed69-9898-4bae-894d-2dec94383d7a
Lokasyon	Mechanical Engineering
Tarih	2018-10-09
Notlar	TÜBİTAK ; COST Actions Inclusiveness Target Countries (ITC)
Örnek Metin	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.
DOI	10.1109/BIOROB.2018.8487685
Cilt	2018

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Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints

Yazar Yıldırım, Mehmet Can, Şendur, Polat, Soliman, Ahmed Fahmy, Uğurlu, Regaip Barkan

Basım Tarihi 2018-10-09

Basım Yeri - IEEE

Konu Solid modeling, Hip, Exoskeletons, Legged locomotion, Optimization, Mathematical model, Trajectory

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-153868183-1

Kayıt Numarası 0e12ed69-9898-4bae-894d-2dec94383d7a

Lokasyon Mechanical Engineering

Tarih 2018-10-09

Notlar TÜBİTAK ; COST Actions Inclusiveness Target Countries (ITC)

Örnek Metin 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.

DOI 10.1109/BIOROB.2018.8487685

Cilt 2018