A Task-Based Dimensional Synthesis of an Upper-Limb Exoskeleton: A Hybrid Configuration

This paper deals with the human-robot compatibility issue of upper-limb exoskeleton through a dimensional synthesis problem. The work is a contribution to solving misalignment. In this paper, the objective is the task-based dimensional synthesis of a wearable upper-limb exoskeleton for emulating natural human motion. A planar hybrid architecture is used for the purpose, with a four-bar connected to another four-bar in series. The task is selected based upon the standard rehabilitation exercises, only for the planar motion (parallel to sagittal plane). To achieve the proposed objective, the work has consisted of the formulation and solving of a constrained optimization problem, with reachability, design limits and solution continuity as constraints. Genetic algorithm is used for problem-solving. The results are detailed for proposed manipulator for the upper-limb exoskeleton, showcasing variation in design limits and constraints.