Dynamics modeling of physical Human-Robot Interaction for Lower Limb Exoskeletons design evaluation

Accurate knowledge of the physical Human-Robot Interaction (pHRI) is essential for designing efficient and comfortable exoskeletons. The abundance of complications and limits deriving from straightforwardly measuring the Human Exoskeleton (HE) interaction wrenches stress the importance of building pHRI dynamics models. This study examines, through a flexible model, the effects of different connection mechanisms (i.e., harnesses) between a Lower Limb Exoskeleton and a wearer during a gait cycle. This evaluation is based on minimizing the interaction wrenches through optimization of HE contact impedance and investigating the exoskeleton dynamics resulting from a simulated pHRI model. Multiple arrangements were explored as a preliminary validation, resulting in consistent impedances at the interfaces and simulated HE kinematics.