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Actuator Optimization for a Back-Support Exoskeleton: The Influence of the Objective Function

  • Tommaso Poliero
  • Stefano Toxiri
  • Darwin G. Caldwell
  • Jesús Ortiz
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)

Abstract

Exoskeletons have been interest of researchers and developers spanning a wide range of applications. Active and passive or quasi-passive exoskeletons are being developed. For this latter category, the actuator parameter tuning is generally based on optimization studies. This paper studies how the definition of the objective function affects the passive or quasi-passive exoskeleton actuators configuration and parameters. It also provides indications on how focusing solely on energy optimization might result in an assistance that could alter the user behaviour. Therefore, usability of the exoskeleton and user comfort could be negatively affected. Finally, as a result of the optimization output analysis, we discuss about the advantages of designing a quasi-passive exoskeleton.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Tommaso Poliero
    • 1
    • 2
  • Stefano Toxiri
    • 1
  • Darwin G. Caldwell
    • 1
  • Jesús Ortiz
    • 1
  1. 1.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenoaItaly
  2. 2.Department of Informatics, Bioengineering, Robotics and Systems EngineeringUniversity of GenoaGenoaItaly

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