Multi-objective Design Optimization and Control Strategy for Digital Hydraulically Driven Knee Exoskeleton

This article presents a multi-objective design optimization strategy to determine an optimal of digital hydraulically driven knee exoskeleton. To satisfy the overall goal compact and lightweight design, four key objectives are defined. Via genetic algorithm based technique, pareto-optimal set designs is determined trade-offs between analysed. decisions on component availability user-comfort, dimensionality pareto-front reduced two exoskeleton selected that offers good compromise objectives. For actuation exoskeleton, energy efficient control proposed which consists using passive during stance phase simplified model predictive swing phase. The operation chosen investigated via numerical simulations. results indicate successfully tracks desired motion delivers required torque.