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Optimization and synthesis on the dynamics performance of the tensioning and relaxing wearable system in a novel knee exoskeleton using co-simulation

Published online by Cambridge University Press:  31 October 2024

Yuwei Yang ,
Jiapeng Yin Open the ORCID record for Jiapeng Yin [Opens in a new window] ,
Wenyao Qi ,
Zhaotong Li ,
Zuyi Zhou ,
Zhongyu Liu  and
Jinyou Xu
Yuwei Yang
Affiliation:
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China
Jiapeng Yin
Affiliation:
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China
Wenyao Qi
Affiliation:
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China
Zhaotong Li
Affiliation:
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China
Zuyi Zhou
Affiliation:
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China
Zhongyu Liu
Affiliation:
Department of Traumatic Orthopaedics, Tianjin Hospital, Tianjin 300211, China
Jinyou Xu*
Affiliation:
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China
*
Corresponding author: Jinyou Xu; Email: [email protected]
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Abstract

In this paper, a novel tensioning and relaxing wearable system is introduced to improve the wearing comfort and load-bearing capabilities of knee exoskeletons. The research prototype of the novel system, which features a distinctive overrunning clutch drive, is presented. Through co-simulation with ANSYS, MATLAB, and SOLIDWORKS software, a comprehensive multi-objective optimization is performed to enhance the dynamics performance of the prototype. Firstly, the wearing contact stiffness of the prototype and the mechanical parameters of the relevant materials are simulated and fitted based on the principle of functional equivalence. And then, its equivalent nonlinear circumferential stiffness model is obtained. Secondly, to enhance the wearing comfort of the exoskeleton, a novel comprehensive performance evaluation index, termed wearing comfort, is introduced. The index considers multiple factors such as the duration of vibration transition, the acceleration encountered during wear, and the average pressure applied. Finally, through the utilization of this indicator, the system’s dynamics performance is optimized via multi-platform co-simulation, and the simulation results validate the effectiveness of the research method and the proposed wearable comfort index. The theoretical basis for the subsequent research on the effectiveness of prototype weight-bearing is provided.

Keywords

knee joint exoskeleton robotwearing comforthuman-machine parallelco-simulationoverrunning clutch
Type
Research Article
Information
Robotica , Volume 42 , Issue 11 , November 2024 , pp. 3918 - 3933
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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