**6. Results**

The simulation results are shown in following **Figure 5**. The assistive force from exoskeleton robot is tested from 10 N/m to 50 N/m for waist and knee exoskeleton. Then, we checked energy consumption for the lifting motion from the simulation. The results are **Table 1** and **Figure 6**. As shown in the **Table 1**, it is obvious that the exoskeleton robot reduces the total energy consumption of weight lifting motion. Most energy minimized case for each 15 kg and 30 kg lifting case is written in italic in the table. In some case, the total energy is more than no assistive force case.

**Figure 5.** *Simulation snapshot for weight lifting motion.*


*Optimization Based Dynamic Human Motion Prediction with Modular Exoskeleton Robots… DOI: http://dx.doi.org/10.5772/intechopen.98391*

#### **Table 1.**

**6. Results**

*Weight lifting motion with waist and knee exoskeleton robots.*

*Collaborative and Humanoid Robots*

**Figure 4.**

**Figure 5.**

**166**

*Simulation snapshot for weight lifting motion.*

The simulation results are shown in following **Figure 5**. The assistive force from exoskeleton robot is tested from 10 N/m to 50 N/m for waist and knee exoskeleton. Then, we checked energy consumption for the lifting motion from the simulation. The results are **Table 1** and **Figure 6**. As shown in the **Table 1**, it is obvious that the exoskeleton robot reduces the total energy consumption of weight lifting motion. Most energy minimized case for each 15 kg and 30 kg lifting case is written in italic in the table. In some case, the total energy is more than no assistive force case.

*Numerical experiment results for weight lifting motion.*

#### **Figure 6.**

*The contour plot of numerical experiment results.*

It might be the assistive force is bothering the balance mechanism of human body while weight lifting motion so human uses more energy to recover the balance back. **References**

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