Optimal Design of Lower Extremity for Portable Human Exoskeletons Using Improved Particle Swarm Optimization

Abstract:

Portable powered human exoskeleton is directed at providing necessary support and help for loaded legged locomotion. The kernel of whole mechanical construction of the exoskeleton is lower extremities. The lower extremities consist of exoskeleton thigh, exoskeleton shank, hydraulic cylinder and corresponding joints. In order to find the optimal combination of design parameters of lower extremities, an improved particle swarm optimization algorithm based on simulated annealing is proposed. To improve global and local search ability of the proposed approach, the inertia weight is varied over time, and jumping probability of simulated annealing is adopted in updating the position vector of particles. Experimental results show that the improved algorithm can obtain the optimal design solutions stably and effectively with less iteration compared to the standard particle swarm optimization and simulated annealing.

• Periodical: Advanced Materials Research (Volumes 538-541)
• Pages: 3215-3221
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.538-541.3215
• Online since: June 2012
• Authors: Fang Liu, Wen Ming Cheng, Nan Zhao
• Keywords: Particle Swarm Optimization (PSO), Portable Exoskeleton, Three-Hinge Mechanism

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