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Utilizing orthoses and exoskeleton technology in various applications andmedical industries, particularly to help elderly and ordinary people in theirdaily activities is a new growing field for research institutes. In this paper,after introducing an assistive lower limb exoskeleton (RoboWalk), the dynamicsmodels of both multi-body kinematic tree structure human and robot is derivedseparately, using Newton's method. The obtained models are then verified bycomparing the results with those of the Recursive Newton-Euler Algorithms(RNEA). These models are then augmented to investigate the RoboWalk jointtorques, and those of the human body, and also the floor reaction force of thecomplete system. Since RoboWalk is an under-actuated robot, despite theassistive force, an undesirable disturbing force exerts to the human. So,optimization strategies are proposed to find an optimal design to maximize theassistive behavior of RoboWalk and reduce joint torques of the human body as aresult. To this end, a human-in-the-loop optimization algorithm will be used.The solution of this optimization problem is carried out by Particle SwarmOptimization (PSO) method. The designed analysis and the optimization resultsdemonstrate the effectiveness of the proposed approaches, leading to theelimination of disturbing forces, lower torque demand for RoboWalk motors andlower weights.

RoboWalk: Explicit Augmented Human-Robot Dynamics Modeling for Design Optimization