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Multibody Analysis and Design Optimization of a Full-Scale Biped-Wheeled Exoskeleton

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Advances in Service and Industrial Robotics (RAAD 2022)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 120))

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Abstract

This work presents the design optimization of the HANDSHAKE multibody model, a full-scale biped-wheeled exoskeleton, conceived in previous works. The ambition of the HANDSHAKE biped-wheeled exoskeleton is to give new locomotion perspectives at people with reduced mobility or people with complete paralysis of the lower body. In this paper, a critical analysis of the multibody simulation of the latest version of the model, performed using MATLAB® and Simulink®, allowed to design and optimize the new multibody model. A comparison of multibody simulation during the walking gait between the new and the latest version of the HANDSHAKE model underlined a reduction of motor torques and power supply in the new model. These results confirm the innovative solution proposed with the HANDSHAKE biped-wheeled exoskeleton.

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Giuseppe Nigido & Elvio Bonisoli

  2. Department of Computer Science, University of Verona, Verona, Italy

    Giovanni Gerardo Muscolo

Authors
  1. Giuseppe Nigido
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  2. Elvio Bonisoli
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  3. Giovanni Gerardo Muscolo
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Corresponding author

Correspondence to Giovanni Gerardo Muscolo .

Editor information

Editors and Affiliations

  1. Institute of Robotics, Johannes Kepler University Linz, Linz, Austria

    Andreas Müller

  2. Institute for Robotics and Mechatronics, Joanneum Research, Klagenfurt, Austria

    Mathias Brandstötter

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Nigido, G., Bonisoli, E., Muscolo, G.G. (2022). Multibody Analysis and Design Optimization of a Full-Scale Biped-Wheeled Exoskeleton. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_37

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