Control parameter optimization of the actively powered upper body exoskeleton using subjective feedbacks

A method of optimizing the control parameter of wearable exoskeletons for industrial applications using subjective feedbacks is introduced in this paper. The human sensory system is explained and a method of mapping these perceptions to the control parameter set of the exoskeleton is developed. Subsequently a method for online parameter adjustment based on the kinetic and kinematic quantities is established and the method is verified for a case study with the Stuttgart Exo-Jacket.