Design optimization for lower limb assistive mechanism based on Manipulability Inclusive Principle

The purpose of assistive mechanism´s design optimization is ensuring that assistive mechanism is able to satisfy assistive feasibility and realize better assistive effect with minimum maximum actuators´ velocities in the whole expected workspace. The design optimization is based on Manipulability Inclusive Principle (MIP). In terms of kinematics and through the manipulability comparison between the assisted limb and slave-active-assistive mechanism, MIP is proposed to evaluate assistive mechanism´s assistive feasibility and assistive effect. The application on human lower limb straight walking assistive mechanism shows that the design optimization based on MIP can find out the optimized assistive mechanism with better kinematical performance and assistance.