Robomorphism: A Nonanthropomorphic Wearable Robot

PROJECT TITLE:

Robomorphism: A Nonanthropomorphic Wearable Robot

ABSTRACT:

This article describes a unique wearable robot (WR) intended to help hip and knee flexion/ extension through series elastic actuators (SEAs). A nonanthropomorphic (NA) design was pursued to improve ergonomics whereas optimizing dynamic properties through a sensible distribution of swinging plenty. Once the anthropomorphism constraint is relaxed, the amount of potential architectures becomes terribly high, and a methodology should be defined to purpose out the simplest choices. To the present purpose, a design methodology, which includes a completely unique approach to kinematic synthesis, topology choice, and morphological optimization, is additionally presented. The advantages offered by the novel design are demonstrated both theoretically and experimentally. In explicit, the results show a low reflected inertia on the user's body, a high backdrivability, and an intrinsic tolerance to misalignments. Such blessings build the proposed robot a promising platform for the event of assistive and rehabilitation systems.

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