Improvement of energy consumption for a lower limb exoskeleton through verticalization time optimization

This paper focuses on a lower limb exoskeleton. The problem of improvement of energy efficiency of the exoskeleton during sit-to-stand motion (verticalization) is considered. Optimization of the time allocated for the verticalization motion is proposed as a way to improve energy efficiency. It is shown that optimal time of verticalization depends on the initial position of the exoskeleton and the relation between the two can be approximated by a polynomial function. An analysis and suggestions for practical applications of the obtained results are presented.