Model-Based Optimization for the Design of Exoskeletons that Help Humans to Sustain Large Pushes While Walking

  • R. Malin SchemschatEmail author
  • Debora Clever
  • Matthew Millard
  • Katja Mombaur
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 15)


In order to be useful in daily life, lower limb exoskeletons have to be able to provide support not only for nominal situations, such as level ground walking, but also for the recovery from extreme situations. In this paper, we investigate which torques a lower leg exoskeleton would have to produce in order to allow a person to recover from large perturbations or pushes that may occur while walking. We propose a model-based optimization approach that takes into account dynamic models of the human and the exoskeleton as well as experimental data of humans being pushed. Using optimal control and a least squares objective function we compute the joint torques that exoskeletons of different masses and mass distributions would have to produce in order to make the person follow the recorded recovery trajectories of healthy subjects and which loads would occur in the structure. The results of these computations can serve as guidelines for the design of future lower limb exoskeletons.


Joint Torque Walking Motion Pelvis Segment Direct Multiple Shooting Vicon Motion Capture System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work is partly funded by the HGS MathComp of Heidelberg University. Furthermore, the research leading to these results has received funding from the EU FP7 program under grant agreement n\(^\circ \) 611909 (KoroiBot) and the H2020 project SPEXOR n\(^\circ \) 687662.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • R. Malin Schemschat
    • 1
    Email author
  • Debora Clever
    • 1
  • Matthew Millard
    • 1
  • Katja Mombaur
    • 1
  1. 1.Optimization in Robotics & Biomechanics Research GroupInterdisciplinary Center for Scientific Computing, Heidelberg UniversityHeidelbergGermany

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