Multibody Analysis and Design Optimization of a Full-Scale Biped-Wheeled Exoskeleton

This work presents the design optimization of the HANDSHAKE multibody model, a full-scale biped-wheeled exoskeleton, conceived in previous works. The ambition of the HANDSHAKE biped-wheeled exoskeleton is to give new locomotion perspectives at people with reduced mobility or people with complete paralysis of the lower body. In this paper, a critical analysis of the multibody simulation of the latest version of the model, performed using MATLAB® and Simulink®, allowed to design and optimize the new multibody model. A comparison of multibody simulation during the walking gait between the new and the latest version of the HANDSHAKE model underlined a reduction of motor torques and power supply in the new model. These results confirm the innovative solution proposed with the HANDSHAKE biped-wheeled exoskeleton.