Exoskeletons are powerful tools for aiding humans with pathological conditions, in dangerous environments or in manually exhausting tasks. Typically, they are designed for specific maximum scenarios without taking into account the diversity of tasks and the individuality of the user. To address this discrepancy, a framework was developed for personalizing an exoskeleton by scaling the components, especially the electrical machine, based on different simulated human muscle forces. The main idea was to scale a numerical arm model based on body mass and height to predict different movements representing both manual labor and daily activities. The predicted torques necessary to produce these movements were then used to generate a load/performance cycle for the power unit design. Considering these torques, main operation points of this load cycle were defined and a reference power unit was scaled and optimized. Therefore, a scalability model for an electrical machine is introduced. This individual adaptation and scaling of the power unit for different users leads to a better performance and a lighter design.
%0 Journal Article
%1 Waldhof.2022
%A Waldhof, Marcel
%A Wochner, Isabell
%A Stollenmaier, Katrin
%A Parspour, Nejila
%A Schmitt, Syn
%D 2022
%J Robotics
%K cbb imsb iw jour myown sys
%N 5
%P 107
%R 10.3390/robotics11050107
%T Design and Scaling of Exoskeleton Power Units Considering Load Cycles of Humans
%U https://doi.org/10.3390/robotics11050107
%V 11
%X Exoskeletons are powerful tools for aiding humans with pathological conditions, in dangerous environments or in manually exhausting tasks. Typically, they are designed for specific maximum scenarios without taking into account the diversity of tasks and the individuality of the user. To address this discrepancy, a framework was developed for personalizing an exoskeleton by scaling the components, especially the electrical machine, based on different simulated human muscle forces. The main idea was to scale a numerical arm model based on body mass and height to predict different movements representing both manual labor and daily activities. The predicted torques necessary to produce these movements were then used to generate a load/performance cycle for the power unit design. Considering these torques, main operation points of this load cycle were defined and a reference power unit was scaled and optimized. Therefore, a scalability model for an electrical machine is introduced. This individual adaptation and scaling of the power unit for different users leads to a better performance and a lighter design.
@article{Waldhof.2022,
abstract = {Exoskeletons are powerful tools for aiding humans with pathological conditions, in dangerous environments or in manually exhausting tasks. Typically, they are designed for specific maximum scenarios without taking into account the diversity of tasks and the individuality of the user. To address this discrepancy, a framework was developed for personalizing an exoskeleton by scaling the components, especially the electrical machine, based on different simulated human muscle forces. The main idea was to scale a numerical arm model based on body mass and height to predict different movements representing both manual labor and daily activities. The predicted torques necessary to produce these movements were then used to generate a load/performance cycle for the power unit design. Considering these torques, main operation points of this load cycle were defined and a reference power unit was scaled and optimized. Therefore, a scalability model for an electrical machine is introduced. This individual adaptation and scaling of the power unit for different users leads to a better performance and a lighter design.},
added-at = {2022-11-06T12:55:05.000+0100},
author = {Waldhof, Marcel and Wochner, Isabell and Stollenmaier, Katrin and Parspour, Nejila and Schmitt, Syn},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/25084d70a9e038d278eaf5b316bb9800d/utilityimsb},
doi = {10.3390/robotics11050107},
file = {robotics-11-00107:S\:\\Mitarbeiter\\01_Bibliothek\\01_Literatur\\Citavi Attachments\\robotics-11-00107.pdf:pdf},
interhash = {ac6c620118bee347343681e65f970a03},
intrahash = {5084d70a9e038d278eaf5b316bb9800d},
journal = {Robotics},
keywords = {cbb imsb iw jour myown sys},
number = 5,
pages = 107,
timestamp = {2023-03-15T09:44:01.000+0100},
title = {Design and Scaling of Exoskeleton Power Units Considering Load Cycles of Humans},
url = {https://doi.org/10.3390/robotics11050107},
volume = 11,
year = 2022
}
