Abstract
This paper deals with the problem of the physical human-machine interaction in biped-wheeled exoskeletons and underlines how the symbiosis between humans and machines may increase sustainability. Few exoskeletons in the world are designed with wheels, but the evolution of wearable machines in industries and the convenience of using wheels, underline the importance of the novel research sector of biped-wheeled exoskeletons. This paper shows the functional design and simulation of a novel biped-wheeled wearable machine, including sustainable compliant physical interaction with the subject on board. In particular, the multibody model of the proposed machine is studied and simulated with the subject model on board, including human-machine compliant interactions. The classical human walking cycle is implemented in the machine, varying the speed and the joint compliance of the subject on board and comparing the torque and power output of the motors of the biped-wheeled exoskeleton. The results of this study underline how the joint compliance of the subject on board of the biped-wheeled exoskeleton may influence the efficiency and sustainability of the biped-wheeled wearable machine.
Highlights
The Sustainable Development Goals of the 2030 Agenda of the United Nations member states define lines for a novel humanity
In task1, it can be noted how the x value position is different from zero, by 7–15 s; this means that the exoskeleton is moved in the y direction
A very important result of this study is underlined by the inclusion of compliance in the joints of the model of the subject, which helps us to increase the efficiency of the biped-wheeled wearable machine during the walking cycle
Summary
The Sustainable Development Goals of the 2030 Agenda of the United Nations member states define lines for a novel humanity. The technology must be oriented to be in line with the planned goals. In Lee et al (2016), sustainability for the wearable technology is presented, underlining how this is a crucial point for the future of wearable systems. Wearable robots and exoskeletons have been included in our society for helping people. In Panero et al (2019, 2020a,b), the influence of the hinge positioning for optimizing exoskeletons and reducing human efforts are studied. In these papers, the human effort reduction is obtained using an upper body exoskeleton to help the subject to lift goods
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