Friction Prediction and Validation of a Variable Stiffness Lower Limb Exosuit Based on Finite Element Analysis

The variable stiffness exosuit has great potential for human augmentation and medical applications. However, the model of mechanism in exosuits is far from satisfactory accurate prediction control friction force. This paper presents a lower limb exosuit, verifies its performance, identifies applicability. force was established by Coulomb hypothesis. equivalent coefficient, which core parameter model, determined based on squeezing data obtained tests an ANSYS simulation. Experiments show that error proposed can reach 15% with proper structural dimension change constraint. test showed achieved shorten settling time step response 26% eliminate steady-state error. Verifications indicate method provide guidance to modeling other friction/stiffness structures, especially friction-based wearable robot structure models predictions.