Human-exoskeleton coupling dynamics in the swing of lower limb

Abstract

This paper proposes a new model for the study of lower-limb exoskeletons, which considers both of human and robot’s dynamics with their coupling effects. More specifically, human-exoskeleton interaction is modelled as linear damped springs, with the corresponding coupling coefficients experimentally calibrated by a new experimental platform. In human joint torques, saturation functions are employed to represent loss of wearers’ muscle function, enabling the model applicable for either healthy or unhealthy wearers. This theoretical model is then validated by comparing its responses with the results of an experimental exoskeleton. Thus this validated model is regarded as a solid foundation for the analysis of human-exoskeleton coupling dynamics, based on which we can optimize the control algorithm of exoskeletons, analyse the improvement of human performance, and design comfortable human-exoskeleton interaction.