Development of a Soft Exosuit System for Walking Assistance During Stair Ascent and Descent

Lee, Hee Don; Park, Heejin; Bak, Seongho; Kang, Tae Hun

doi:10.1007/s12555-019-0584-5

Cited by 24 publications

(13 citation statements)

References 16 publications

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“…Probably the simplest case is the constant extension torque profile applied to the knee joint, when the leg is in single stance [ 176 ].…”

Section: Assistive Strategiesmentioning

confidence: 99%

“…at the heel and under the toes) to further differentiate between stance subphases [48,67,86,117,148,162,163,[170][171][172][173][174]. The gait state can also be determined by computing the center of pressure (CoP) position of the stance leg with four load cells per foot, then applying a threshold to identify four states [175,176]. In one paper, the subphases of stance were detected only based on the total ground reaction force (GRF) [116].…”

Section: Machine Learning Phase (Mlp)mentioning

confidence: 99%

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Review of control strategies for lower-limb exoskeletons to assist gait

Baud

Manzoori

Ijspeert

et al. 2021

J NeuroEngineering Rehabil

192

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Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Methods In addition to covering the recent publications on the control of lower-limb exoskeletons for gait assistance, an effort has been made to review the controllers independently of the hardware and implementation aspects. The common 3-level structure (high, middle, and low levels) is first used to separate the continuous behavior (mid-level) from the implementation of position/torque control (low-level) and the detection of the terrain or user’s intention (high-level). Within these levels, different approaches (functional units) have been identified and combined to describe each considered controller. Results 291 references have been considered and sorted by the proposed classification. The methods identified in the high-level are manual user input, brain interfaces, or automatic mode detection based on the terrain or user’s movements. In the mid-level, the synchronization is most often based on manual triggers by the user, discrete events (followed by state machines or time-based progression), or continuous estimations using state variables. The desired action is determined based on position/torque profiles, model-based calculations, or other custom functions of the sensory signals. In the low-level, position or torque controllers are used to carry out the desired actions. In addition to a more detailed description of these methods, the variants of implementation within each one are also compared and discussed in the paper. Conclusions By listing and comparing the features of the reviewed controllers, this work can help in understanding the numerous techniques found in the literature. The main identified trends are the use of pre-defined trajectories for full-mobilization and event-triggered (or adaptive-frequency-oscillator-synchronized) torque profiles for partial assistance. More recently, advanced methods to adapt the position/torque profiles online and automatically detect terrains or locomotion modes have become more common, but these are largely still limited to laboratory settings. An analysis of the possible underlying reasons of the identified trends is also carried out and opportunities for further studies are discussed.

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“…Probably the simplest case is the constant extension torque profile applied to the knee joint, when the leg is in single stance [ 176 ].…”

Section: Assistive Strategiesmentioning

confidence: 99%

Section: Machine Learning Phase (Mlp)mentioning

confidence: 99%

Review of control strategies for lower-limb exoskeletons to assist gait

Baud

Manzoori

Ijspeert

et al. 2021

J NeuroEngineering Rehabil

192

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“…The main purpose of using rigid components was to extend the momentarm for knee extension. To support knee extension and flexion for stair ascent and descent, Lee et al [ 72 ] proposed a system with a series elastic actuator activating both front and rear wires. On the one hand, this design scheme enhanced the flexibility and compliance of wire during power transmission, while on the other hand, it could obtain the interaction force between human and robot by detecting spring deformation.…”

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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“…e exoskeleton has become one of the important research subjects in recent years, especially in gait training [1], rehabilitation [2,3], and tremor-suppression orthoses [4]. Almost all existing actuators adopt a driven exoskeleton, including a motor [5][6][7][8][9], hydraulic system [10], pneumatic system [11], and wires [12,13]. Motors possess the advantages of small volume, low weight, large force of traction, simple operation, good performance, and high safety; therefore, they have been widely used in artificial exoskeletons.…”

Section: Introductionmentioning

confidence: 99%

Man-Machine Synergy Control for Pneumatically Powered Exoskeleton Based on Surface Electromyogram Signal

Jiang

Liu

et al. 2022

Mathematical Problems in Engineering

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The biceps and triceps alternatively act as agonists and antagonists to realize upper limb movement. Pneumatic artificial muscle (PAM), which is inflated and deflated with compressed air instead of water, has similar characteristics to those of human muscle. The challenge is whether an exoskeleton actuated by PAM can help biceps lift the upper limb. Accordingly, the principal aim of this research is to guarantee precise signal collection and control process and adopt the synergy control of PAM and upper limb. In this system, the biceps and triceps provide the main signals in synergy control, electrodes are pasted outside of biceps and triceps to sample their electromyogram signal (EMGs), and the mechanical structure and control system of the pneumatic exoskeleton are proposed. The relationship between duty-ratio-controlled variables and PAM contraction speed is given by experimental analysis, and the maximum duty ratio of controlled variables of input is set to 80. The feature analysis of EMGs can be various including envelope, moving average, and moving root mean square (RMS). The envelope is taken to extract muscle contraction information through upper limb muscles in a static contraction experiment. Then, the processes of biceps and triceps EMGs feature changes including rapid swing, slow swing, and discontinuous swing under various loads are analyzed during upper limb muscle dynamic contraction. The duty-ratio-controlled variables can be divided into five levels, which correspond to exertion rating from powerless to very strong in two EMG characters. These can be reflected in a scatter diagram of duty-ratio-controlled variables and average EMG characters. A nonlinear relationship can be transferred into the continuous system by the polynomial interpolation method, solving the problem of saturation. The net duty-ratio-controlled variables are adopted to control the on-off state and pulse-width modulation (PWM) duty ratio of the high-speed on-off valve. The forearm lifting up movement is unpowered and powered with various load EMGs, and elbow discontinuous swing angle overshoot is performed to analyze the coordination effect in a synergy control experiment.

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Development of a Soft Exosuit System for Walking Assistance During Stair Ascent and Descent

Cited by 24 publications

References 16 publications

Review of control strategies for lower-limb exoskeletons to assist gait

Review of control strategies for lower-limb exoskeletons to assist gait

Soft Wearable Robots: Development Status and Technical Challenges

Man-Machine Synergy Control for Pneumatically Powered Exoskeleton Based on Surface Electromyogram Signal

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