A Soft Exosuit Assisting Hip Abduction for Knee Adduction Moment Reduction During Walking

Yang, Hee Doo; Cooper, Myles; Eckert-Erdheim, Asa; Orzel, Dorothy; Walsh, Conor J.

doi:10.1109/lra.2022.3182106

Cited by 16 publications

(12 citation statements)

References 32 publications

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“…For example, Walsh’s group at Harvard University has done extensive work on tendon-driven soft exosuits that assist lower limb mobility [ 38 , 42 , 46 , 102 , 103 , 105 , 106 ], primarily hip flexion and ankle plantarflexion. The evolution of the soft exosuit has seen modifications made to the wearable, from its basic form [ 106 ] to the latest iteration [ 46 ], which uses fewer anchoring straps and more elaborate control systems. On the other hand, Cho’s group at Seoul National University focused on Exo-Glove [ 104 , 107 ] and Exo-Glove Poly II [ 84 ], which are low-profile exoskeletons that rehabilitate the hand.…”

Section: Resultsmentioning

confidence: 99%

“…Researchers thus simplify their control by using one input to drive multiple DOFs in one or more joints [ 110 , 111 , 113 , 115 , 117 , 120 , 122 , 124 , 125 , 126 , 127 , 128 , 129 , 131 , 132 , 134 , 135 , 136 , 138 , 139 ]. In addition to modeling the behavior of the wearable, it should be underscored that human tissues are highly deformable and the interface needs to better conform to the skin [ 46 ] to better correlate with the motion of the body.…”

Section: Discussionmentioning

confidence: 99%

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A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

Ang

Yeow

Lim

2023

Sensors

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In recent years, the advent of soft robotics has changed the landscape of wearable technologies. Soft robots are highly compliant and malleable, thus ensuring safe human-machine interactions. To date, a wide variety of actuation mechanisms have been studied and adopted into a multitude of soft wearables for use in clinical practice, such as assistive devices and rehabilitation modalities. Much research effort has been put into improving their technical performance and establishing the ideal indications for which rigid exoskeletons would play a limited role. However, despite having achieved many feats over the past decade, soft wearable technologies have not been extensively investigated from the perspective of user adoption. Most scholarly reviews of soft wearables have focused on the perspective of service providers such as developers, manufacturers, or clinicians, but few have scrutinized the factors affecting adoption and user experience. Hence, this would pose a good opportunity to gain insight into the current practice of soft robotics from a user’s perspective. This review aims to provide a broad overview of the different types of soft wearables and identify the factors that hinder the adoption of soft robotics. In this paper, a systematic literature search using terms such as “soft”, “robot”, “wearable”, and “exoskeleton” was conducted according to PRISMA guidelines to include peer-reviewed publications between 2012 and 2022. The soft robotics were classified according to their actuation mechanisms into motor-driven tendon cables, pneumatics, hydraulics, shape memory alloys, and polyvinyl chloride muscles, and their pros and cons were discussed. The identified factors affecting user adoption include design, availability of materials, durability, modeling and control, artificial intelligence augmentation, standardized evaluation criteria, public perception related to perceived utility, ease of use, and aesthetics. The critical areas for improvement and future research directions to increase adoption of soft wearables have also been highlighted.

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Section: Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

Ang

Yeow

Lim

2023

Sensors

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“…In [ 66 ], an exosuit for augmenting hip abduction was proposed to maintain the coronal angle of the pelvis basically stable. It aimed at counteracting adverse impacts of external knee adduction moment.…”

Section: Overview Of Exosuitmentioning

confidence: 99%

Soft Wearable Robots: Development Status and Technical Challenges

Shi

Dong

Lin

et al. 2022

Sensors

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In recent years, more and more research has begun to focus on the flexible and lightweight design of wearable robots. During this process, many novel concepts and achievements have been continuously made and shown to the public, while new problems have emerged at the same time, which need to be solved. In this paper, we give an overview of the development status of soft wearable robots for human movement assistance. On the basis of a clear definition, we perform a system classification according to the target assisted joint and attempt to describe the overall prototype design level in related fields. Additionally, it is necessary to sort out the latest research progress of key technologies such as structure, actuation, control and evaluation, thereby analyzing the design ideas and basic characteristics of them. Finally, we discuss the possible application fields, and propose the main challenges of this valuable research direction.

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“…Yang et al . ( 30 ) designed a soft wearable robot for hip abductor assistance. They implemented force profiles based on the simulation study by Dembia et al .…”

Section: Introductionmentioning

confidence: 99%

“…The effects of Chiu et al's system on walking have not yet been analyzed. Yang et al (30) designed a soft wearable robot for hip abductor assistance. They implemented force profiles based on the simulation study by Dembia et al (26).…”

Section: Introductionmentioning

confidence: 99%

Effect of hip abduction assistance on metabolic cost and balance during human walking

Park,

Nam,

Yun

et al. 2023

Sci. Robot.

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The use of wearable robots to provide walking assistance has rapidly grown over the past decade, with notable advances made in robot design and control methods toward reducing physical effort while performing an activity. The reduction in walking effort has mainly been achieved by assisting forward progression in the sagittal plane. Human gait, however, is a complex movement that combines motions in three planes, not only the sagittal but also the transverse and frontal planes. In the frontal plane, the hip joint plays a key role in gait, including balance. However, wearable robots targeting this motion have rarely been investigated. In this study, we developed a hip abduction assistance wearable robot by formulating the hypothesis that assistance that mimics the biological hip abduction moment or power could reduce the metabolic cost of walking and affect the dynamic balance. We found that hip abduction assistance with a biological moment second peak mimic profile reduced the metabolic cost of walking by 11.6% compared with the normal walking condition. The assistance also influenced balance-related parameters, including the margin of stability. Hip abduction assistance influenced the center-of-mass movement in the mediolateral direction. When the robot assistance was applied as the center of mass moved toward the opposite leg, the assistance replaced some of the efforts that would have otherwise been provided by the human. This indicates that hip abduction assistance can reduce physical effort during human walking while influencing balance.

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A Soft Exosuit Assisting Hip Abduction for Knee Adduction Moment Reduction During Walking

Cited by 16 publications

References 32 publications

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics

Soft Wearable Robots: Development Status and Technical Challenges

Effect of hip abduction assistance on metabolic cost and balance during human walking

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