Simulation-based Pareto optimization shows mono-articular exoskeletons reduce peak joint reaction forces better while bi-articular designs have power consumption less affected by added loads, with device inertia impacting metabolic cost differently for each.
Biarticular elements as a contributor to energy efficiency: biomechanical review and application in bio-inspired robotics
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Simulation-based multi-criteria comparison of mono-articular and bi-articular exoskeletons during walking with and without load
Simulation-based Pareto optimization shows mono-articular exoskeletons reduce peak joint reaction forces better while bi-articular designs have power consumption less affected by added loads, with device inertia impacting metabolic cost differently for each.