Comfort Perception Analysis of Human Models Interfacing with Novel Biped-Wheeled-Exoskeletons

This paper presents a comfort perception analysis of human models interfacing with a novel biped-wheeled-exoskeleton. Usually, many attentions are given to the exoskeleton machine design but, in many cases, without considering the human comfort point of view. This paper merges the conceptual design of the novel biped-wheeled-exoskeleton machine, here proposed in a first time, with the analysis of the comfort perception of human models. The simulation of the human muscular activation is performed using the OpenSim software and the comfort analyses are done thanks to the literature review. Results underline how the comfort perception analysis of a human model with the same constraints of a wearable machine, may optimize the design process of a comfortable wearable hardware by the user. Novel comfortable joints range of motions of a human model, wearing biped-wheeled-exoskeletons, are also the results of this research work.