Design of an optimum torque actuator for augmenting lower extremity exoskeletons in biomechanical framework

This research presents virtual prototyping and performance evaluation of a series elastic torque actuator developed for augmenting lower extremity exoskeletal systems employing biomechanical framework. For this purpose, experimental kinematical data of the lower extremity were collected for walking and backpack load carrying. Forward dynamics simulation of the movements under investigation is performed in a biomechanical framework consisting of a musculoskeletal model with ten degrees-of-freedom actuated by eighteen Hill-type musculotendon actuators per leg to perform the muscle functional analysis. Muscle torque analysis results employed for optimal design and selection of components in the proposed torque actuator. Performance evaluation analysis for virtual prototype of the proposed actuator illustrates very good agreement of torque produced by the proposed actuator with the torque needed to perform movements under investigation from biomechanical analysis of the musculoskeletal system.