The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Optimization of Hip Flexion/Extension Torque of Exoskeleton During Human Gait Using Human Musculoskeletal Simulation

인체 근골격 시뮬레이션을 활용한 인체 보행 시 외골격의 고관절 굴곡/신장 토크 최적화

  • Hyeseon Kang (Seoul National University of Science and Technology) ;
  • Jinhyun Kim (Seoul National University of Science and Technology)
  • Received : 2022.10.30
  • Accepted : 2022.12.03
  • Published : 2023.02.28
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Abstract

Research on walking assistance exoskeletons that provide optimized torque to individuals has been conducted steadily, and these studies aim to help users feel stable when walking and get help that suits their intentions. Because exoskeleton auxiliary efficiency evaluation is based on metabolic cost savings, experiments on real people are needed to evaluate continuously evolving control algorithms. However, experiments with real people always require risks and high costs. Therefore, in this study, we intend to actively utilize human musculoskeletal simulation. First, to improve the accuracy of musculoskeletal models, we propose a body segment mass distribution algorithm using body composition analysis data that reflects body characteristics. Secondly, the efficiency of most exoskeleton torque control algorithms is evaluated as the reduction rate of Metabolic Cost. In this study, we assume that the torque minimizing the Metabolic Cost is the optimal torque and propose a method for obtaining the torque.

Keywords

Acknowledgement

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2022R1A2C2010101)

References

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