Study to Increase the TRL of Exoskeleton ERMIS Based on a Methodology to the Identification of Real Performance Parameters

Abstract

Many exoskeletons in scientific communications and patents only reach a technology readiness level corresponding to an experimental physical model (EPM) or a low-fidelity prototype. While only operational in a laboratory environment, the increasing technology readiness level (TRL) in exoskeletons is not widely studied. This work presents a study to reach this aim based on a new methodology that includes two phases, eleven steps, and four case studies from EPM (TRL3) of ERMIS up to TRL 5 of ERMIS. The results of this article show the increase in TRL based on the analysis of the operational parameters of the ERMIS exoskeleton. The validation of the passive rehabilitation movements was made by characterizing the points of their trajectories assisted by an anthropomorphic mechanism used to measure the end-effector position of ERMIS by means of the acquisition of data, obtaining an error of 20 mm. In conclusion, the real performance parameters are detailed, explaining their causes according to the behavior of the exoskeleton in a real environment operating the four case studies. It presents the group of parameters that reach the TRL 5, which were validated in Computer-Aided Design (CAD) software.