Method of the Exoskeleton Assembly Synthesis on the Base of Anthropometric Characteristics Analysis

  • Anna MatokhinaEmail author
  • Stanislav Dragunov
  • Svetlana Popova
  • Alla G. Kravets
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 259)


The article describes the synthesis module of design solutions for passive and active exoskeletons, taking into account the anthropometric parameters of the operator, the requirements and limitations imposed on the exoskeleton. Exoskeletons, presented on the market of their functional-parametric structure and technical characteristics, are investigated. The method of generating design solutions is considered by the example of an exoskeleton. An algorithm has been developed for the operator upper and lower extremities exoskeleton assembly synthesis, taking into account the anthropometric characteristics, requirements, and limitations of the exoskeleton, and also developed a system prototype for generating the assembly of the exoskeleton with regard to the anthropometric characteristics. The system for generating assemblies of different types of exoskeletons makes it easy to adapt to emerging markets and select the most suitable model taking into account various parameters.


Exoskeleton Construing Modeling CAD system Prototyping Adaptive modeling 



The reported study was funded by RFBR according to the research project # 19-07-01200 and technically supported by the Project Laboratory of Cyber-Physical systems of Volgograd State Technical University.


  1. 1.
    Kelechava, B.: Powered exoskeletons [Electronic resource]. (appeal date: 12.26.2017)
  2. 2.
    Exoskeleton robots are on the verge of exponential market growth [Electronic resource]. Access mode:
  3. 3.
    A survey on static modeling of miniaturized pneumatic artificial muscles with new model and experimental results [Electronic resource]. Access mode:
  4. 4.
    Sobia, A.: What is an exoskeleton? Exoskeleton report. Access mode: (access date: 26.12.2017)
  5. 5.
    Kazerooni, H.: Exoskeletons for human performance augmentation. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics. Springer, Berlin (2008)Google Scholar
  6. 6.
    Lee, H., Yu, S., Lee, S., Han, J., Han, C.: Development of human-robot interfacing method for assistive wearable robot of the human upper extremities. In: Proceedings of the SICE Annual Conference, pp. 1755–1760 (2008)Google Scholar
  7. 7.
    Daly, J.J., Hrovat, K., Pundik, S., Sunshine, J., Yue, G.: fMRI methods for proximal upper limb joint motor testing and identification of undesired mirror movement after stroke. J. Neurosci. Methods 175(1), 133–142 (2008)CrossRefGoogle Scholar
  8. 8.
    Frumento, C., Messier, E., Montero, V.: The history and future of rehabilitation robotics. Access mode:–112312/unrestricted/HRRIQP_Final.pdf (2010)
  9. 9.
    A novel gait-based synthesis procedure for the design of 4-bar exoskeleton with natural trajectories. Access mode:
  10. 10.
    Meng, Q.: Research on size synthesis optimization design of a bionic exoskeleton for index finger rehabilitation. Adv. Mater. Res. 945–949, 1447–1450 (2014)CrossRefGoogle Scholar
  11. 11.
    Menga, G., Ghirardi, M.: Lower limb exoskeleton for rehabilitation with improved postural equilibrium. Robotics 7(2), 28 (2018)CrossRefGoogle Scholar
  12. 12.
    Song, Z., Tian, C., Dai, J.-S.: Mechanism design and analysis of a proposed wheelchair-exoskeleton hybrid robot for assisting human movement. Mech. Sci. 10(1), 11–24 (2019). Scholar
  13. 13.
    Exoskeleton robots are on the verge of exponential market growth [Electronic resource]. Access mode:
  14. 14.
    Chen, B., Ma, H., Qin, L.-Y, Gao, F., Chan, K.-M, Law, S.-W., Qin, L., Liao, W-H.: Recent developments and challenges of lower extremity exoskeletons. J. Orthop. Transl. 5 (2015). Scholar
  15. 15.
    Exo robotics. Access mode: (access date: 26.12.2017)
  16. 16.
    A review of exoskeleton-type systems and their key technologies. Access mode:
  17. 17.
    Types and classifications of exoskeletons. Access mode:
  18. 18.
    Robotic exoskeleton: for a better quality of life [Electronic resource]. Access mode:
  19. 19.
    Harvard scientists design soft robotic exoskeleton to reduce fatigue and injuries [Electronic resource]. Access mode:
  20. 20.
    Chernikova, L., Suponeva, N., Klochkov, A., Khizhnikova, A., Lyukmanov, R., Gnedovskaya, E., Yankevich, D., Piradov, M.: Robotic and mechanotherapeutic technology to restore the functions of the upper limbs: prospects for development (review). Sovremennye tehnologii v medicine 8, 222–230 (2016). Scholar
  21. 21.
    Servo control facts. Access mode:–394.pdf (access date: 27.04.2018)
  22. 22.
    Pallas-Areny, R., Webster, J.: Sensors and Signal Conditioning. SERBIULA (Sistema Librum 2.0) (2019)Google Scholar
  23. 23.
    A great combination: pneumatic actuator, pneumatic timer, pneumatic valves, and pneumatic indicators. Access mode: (access date 14.04.2018)
  24. 24.
    Gopura, R., Kiguchi, K.: Mechanical designs of active upper-limb exoskeleton robots: state-of-the-art and design difficulties, pp. 178–187. Access mode: (2009)
  25. 25.
    Rehmat, N., Zuo, J., Meng, W.: Int. J. Intell. Robot Appl. 2, 283 (2018). Scholar
  26. 26.
    Zang, D.-T.: Adaptive electric drive control exoskeleton [Electronic resource]. Access mode:
  27. 27.
    Nacy, S., Hussein, N., Abdallh, M.M.: Review of lower limb exoskeletons [Electronic resource]. Access mode:
  28. 28.
  29. 29.
    Titov, A., Markov, A., Skorikov, A., Tarasov, P., Andreev A.E.: Autonomous locomotion and navigation of anthropomorphic robot. In: Communications in Computer and Information Science, CIT&DS 2017, vol. 754, pp. 242–255 (2017)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Anna Matokhina
    • 1
    Email author
  • Stanislav Dragunov
    • 1
  • Svetlana Popova
    • 1
  • Alla G. Kravets
    • 1
  1. 1.Volgograd State Technical UniversityVolgogradRussia

Personalised recommendations