Evaluating Immediate Benefits of Assisting Knee Extension With a Soft Inflatable Exosuit

Sridar, Saivimal; Qiao, Zhi; Rascon, Alvaro; Biemond, Albert; Beltran, Amanda; Maruyama, Trent; Kwasnica, Christina; Polygerinos, Panagiotis; Zhang, Wenlong

doi:10.1109/tmrb.2020.2988305

Cited by 30 publications

(25 citation statements)

References 37 publications

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“…The torque profile can be as simple as a square pulse [ 103 ]. In some studies, the torque profiles are fine-tuned offline based on subjective feedback from the users [ 136 , 212 ] or previous measurements from the users [ 169 ]. In others, they are optimized online for metabolic cost reduction [ 105 , 213 , 214 ].…”

Section: Assistive Strategiesmentioning

confidence: 99%

“…Most commonly, the ground contact state of the feet, or equivalently the ground reaction force (GRF), is used either for the entire foot to only distinguish between stance/swing [164][165][166][167][168][169] or considering local components (e.g. 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].…”

Section: Machine Learning Phase (Mlp)mentioning

confidence: 99%

“…In [148], the linear acceleration of the shank is also used in addition to ground contact data to improve the accuracy of heelstrike detection. The amount of time elapsed since the onset of swing has also been used in addition to ground reaction force (GRF) data to further detect subphases of swing [169].…”

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

194

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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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Section: Assistive Strategiesmentioning

confidence: 99%

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

194

View full text Add to dashboard Cite

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“…The 10 MWT was the most common test in 8 of 19 studies. Activity-specific tasks included "get up and go" (GUG) [33], "timed get up and go" (TUG) [42], "sit-to-stand" test [34], perturbed walk [33], the functional independence measure [23], "Fugl-Meyer assessment of Motor Recovery after Stroke" [37] and the Barthel index [23]. Energy expenditure by the user was assessed by indirect calorimetry [8,28,31], oxygen consumption, heart rate and respiratory rate [23].…”

Section: Clinical Studiesmentioning

confidence: 99%

Lower-Limb Exosuits for Rehabilitation or Assistance of Human Movement: A Systematic Review

Koch

Font-Llagunes

2021

Applied Sciences

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Background: The aim of this review is to provide a comprehensive overview of the technological state-of-the-art of exosuits and the clinical results obtained when applied to users with mobility impairment. Methods: Searches are carried out in the COCHRANE, PubMed, IEEE Xplore and MEDLINE databases. Titles, abstracts and full texts are screened for inclusion criteria. Technological and clinical data are extracted. The quality of the studies is evaluated via a study quality assessment tool. Results: 19 studies are identified as relevant. Active (47%) and passive exosuits (53%) are used. Most are used untethered (84%), accommodating the demand of mobility. No study reports power consumption, which is important for dimensioning power systems. Fields of applications are post-stroke (79%), osteoarthritis (16%) and post-trauma (5%). Mostly the ankle joint is addressed (57%), while less studies address multiple joints (21%). The outcomes of clinical evaluations of lower-limb exosuits with patients suffering from mobility impairments are positive in the correction of gait pattern and reducing metabolic energy consumption during hemiparetic walking. Conclusions: Lower-limb exosuits for clinical applications are still facing technological challenges. Fields of application are limited to stroke, osteoarthritis and trauma. While clinical outcomes are overall positive, improvements in the study protocols are suggested.

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“…According to the different application scenarios of products, the modes of exoskeletons can be generally categorized into rehabilitation [1][2][3][4][5], industry [6], and military [7] applications; for industry and military applications in particular, the exoskeleton supplements normal human power to conduct lifting. Generally, active assistance and passive assistance [8] are two common driving modes, and active assistance modes can be further divided into hydraulic [9], motor-driven [10,11], and pneumatic [12,13] modes. The power systems of hydraulic or pneumatic driving modes introduce additional load to the body due to their large volume; in contrast, a motor can be placed on the back of the body.…”

Section: Introductionmentioning

confidence: 99%

Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

2021

Applied Bionics and Biomechanics

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Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.

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Evaluating Immediate Benefits of Assisting Knee Extension With a Soft Inflatable Exosuit

Cited by 30 publications

References 37 publications

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

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

Lower-Limb Exosuits for Rehabilitation or Assistance of Human Movement: A Systematic Review

Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

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