Design of a new exoskeleton based on the combination of two magnetorheological damper

초록

In this paper, an exoskeleton for human knee is proposed. This design is based on the magnetorheological (MR) fluid theory and its application on vibration damper. The damper is analyzed and developed to suit the human motion. The motor torque is optimized that the knee torque is smallest as possible. After formulating the equations related to motor torque, external forces on human leg and damper force, the design is undertaken followed by optimization using ANSYS APDL software. The objective function in this software is concentrated on maximal damping force of damper (supporting 30% force when human foot lands on the ground).