Multicriteria Optimization of Lower Limb Exoskeleton Mechanism

Power augmentation is important for tasks involving heavy load transportation with limited muscle strength, while robotassisted technologies employing upper and lower limb exoskeletons are used for rehabilitating individuals who have experienced a loss of mobility in their joints and muscles. Studying human walking apparatus and motion diagrams representing the leg movement were useful in various fields including the development of human prosthetics, human mimicking robots, and advancements in research areas such as biomimetics, military combat, cinematography, toys, and terrestrial and extraterrestrial exploration [11, 24]. For a comprehensive overview of bipedal walking robots and exoskeletons, refer to [1, 2, 3, 4]. Various design and control architectures of exoskeletons were summarized in the relevant references [5, 3]. In recent years, various design schemes of lower limb exoskeletons aimed at achieving compact devices and meeting specific optimality criteria have been proposed [25, 12, 30].