Optimization of an Exosuit Design for Elbow and Shoulder Joints Considering Comfort and Safety

To ensure comfort and safety in the design of wearable robots, a multi-objective optimization method is defined for shoulder and elbow assistance. This optimization method is evaluated with a simulation platform implemented on Matlab integrating biomechanical features from the software OpenSim. Thus, the interaction forces between skin and cuffs and the metabolic cost could be estimated during design phase. Finally a drinking task trajectory is carried out to validate the efficiency of wearing an exosuit reducing the fatigue by 32%.