Improved assistive profile tracking of soft exosuits for walking and jogging with off-board actuation

Lee, Giuk; Ding, Ye; Bujanda, Ignacio Galiana; Karavas, Nikos; Zhou, Yu; Walsh, Conor J.

doi:10.1109/iros.2017.8205981

Cited by 76 publications

(52 citation statements)

References 36 publications

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“…All textile components (size medium) and half of the weight of the Bowden cable assembly had a total mass of 0.859 kg. The stiffness evaluation of the soft exosuit used in this study is shown in (29).…”

Section: Soft Exosuitmentioning

confidence: 99%

“…Actuation platform A tethered actuation system with two modular actuators was used to generate assistive forces. Each actuator consisted of one customized frameless brushless motor (Allied Motion), a customized spiroid gear set (ITW Heartland), a 90-mm-diameter pulley, and other supportive structures (29). Bowden cable was used to transmit the force from the actuator to the hip joint.…”

Section: Soft Exosuitmentioning

confidence: 99%

“…For the current HIL scheme, a participant walked with hip extension assistance applied via a soft exosuit ( Fig. 2A), a textile-based wearable device designed to apply forces across joints in parallel with human muscles (10,29). The assistive profile was configured by multiple control parameters that were iteratively updated by the optimization and applied to the participant using a tethered actuation system with admittance force control (29).…”

Section: Introductionmentioning

confidence: 99%

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Human-in-the-loop optimization of hip assistance with a soft exosuit during walking

et al. 2018

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Wearable robotic devices have been shown to substantially reduce the energy expenditure of human walking. However, response variance between participants for fixed control strategies can be high, leading to the hypothesis that individualized controllers could further improve walking economy. Recent studies on human-in-the-loop (HIL) control optimization have elucidated several practical challenges, such as long experimental protocols and low signal-to-noise ratios. Here, we used Bayesian optimization-an algorithm well suited to optimizing noisy performance signals with very limited data-to identify the peak and offset timing of hip extension assistance that minimizes the energy expenditure of walking with a textile-based wearable device. Optimal peak and offset timing were found over an average of 21.4 ± 1.0 min and reduced metabolic cost by 17.4 ± 3.2% compared with walking without the device (mean ± SEM), which represents an improvement of more than 60% on metabolic reduction compared with state-of-the-art devices that only assist hip extension. In addition, our results provide evidence for participant-specific metabolic distributions with respect to peak and offset timing and metabolic landscapes, lending support to the hypothesis that individualized control strategies can offer substantial benefits over fixed control strategies. These results also suggest that this method could have practical impact on improving the performance of wearable robotic devices.

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Section: Soft Exosuitmentioning

confidence: 99%

Section: Soft Exosuitmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Human-in-the-loop optimization of hip assistance with a soft exosuit during walking

et al. 2018

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“…Lee et al [94] showed how including a stiffness model of the suit and of the limb being assisted (the thigh in their case) improved the bandwidth of an admittance controller very similar to the one presented here, by over 100%. A motor with higher nominal speed would also be needed, in our case.…”

Section: Power Consumptionsupporting

confidence: 53%

Development and validation of a soft robotic exosuit for assistance of the upper limbs

Xiloyannis¹

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Preliminary design and control of a soft exosuit for assisting elbow movements and hand grasping in activities of daily living", in Rehabilitation and Assistive Technology Engineering (RATE), vol. 4, 2017. Authors' contribution: MX, LC and LM designed the exosuit. DBK, MX and LM developed the controller. DBK, MX and LM designed the experiment. DBK and MX performed the experiment. DBK, MX, LC and LM analysed and interpreted the data. MX and LM prepared the manuscript. All authors provided critical feedback on the manuscript. All authors read and approved the final manuscript. Section 3.4.1,3.4.2 and 3.4.3 are based on the following manuscripts:

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“…These diseases cause chronic discomfort in daily behavior and walking, and they pose a potential risk of causing unexpected situations such as falling while in motion or other accidents in daily life. As a result, there is a growing need to develop walking-assisting technologies for the disabled [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20]. To implement these platforms, the development of skin-attachable and stretchable sensors for detecting and monitoring muscle signals involved in ambulation is essential ( Figure 1).…”

Section: Introductionmentioning

confidence: 99%

Wireless Epidermal Electromyogram Sensing System

et al. 2020

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Massive efforts to build walking aid platforms for the disabled have been made in line with the needs of the aging society. One of the core technologies that make up these platforms is a realization of the skin-like electronic patch, which is capable of sensing electromyogram (EMG) and delivering feedback information to the soft, lightweight, and wearable exosuits, while maintaining high signal-to-noise ratio reliably in the long term. The main limitations of the conventional EMG sensing platforms include the need to apply foam tape or conductive gel on the surface of the device for adhesion and signal acquisition, and also the bulky size and weight of conventional measuring instruments for EMG, limiting practical use in daily life. Herein, we developed an epidermal EMG electrode integrated with a wireless measuring system. Such the stretchable platform was realized by transfer-printing of the as-prepared EMG electrodes on a SiO2 wafer to a polydimethylsiloxane (PDMS) elastomer substrate. The epidermal EMG patch has skin-like properties owing to its unique mechanical characteristics: i) location on a neutral mechanical plane that enables high flexibility, ii) wavy design that allows for high stretchability. We demonstrated wireless EMG monitoring using our skin-attachable and stretchable EMG patch sensor integrated with the miniaturized wireless system modules.

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Improved assistive profile tracking of soft exosuits for walking and jogging with off-board actuation

Cited by 76 publications

References 36 publications

Human-in-the-loop optimization of hip assistance with a soft exosuit during walking

Human-in-the-loop optimization of hip assistance with a soft exosuit during walking

Development and validation of a soft robotic exosuit for assistance of the upper limbs

Wireless Epidermal Electromyogram Sensing System

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