A human-centered design optimization approach for robotic exoskeletons through biomechanical simulation

A design optimization approach for exoskeletons on the basis of simulation of the exoskeleton and a human body model is proposed in this paper. The human-centered approach, addressing the problem of physical human-exoskeleton interactions, models and simulates the mechanics for the exoskeleton and the human body in concern. It allows designers to efficiently analyze and evaluate exoskeleton functions. A simulation platform is developed by integrating a musculoskeletal human body and an exoskeleton. An assistive exoskeleton for the symptom of brachial plexus injury is simulated and analyzed. Two types of passive exoskeletons with gravity-compensating capability are evaluated, and the optimal spring stiffnesses are obtained. The design analysis and optimization results demonstrate the effectiveness of the approach.