Underactuated Soft Hip Exosuit Based on Adaptive Oscillators to Assist Human Locomotion

Tricomi, Enrica; Lotti, Nicola; Missiroli, Francesco; Zhang, Xiao-Hui; Xiloyannis, Michele; Müller, Thomas; Crea, Simona; Papp, E.; Krzywinski, Jens; Vitiello, Nicola; Masia, Lorenzo

doi:10.1109/lra.2021.3136240

Cited by 35 publications

(13 citation statements)

References 25 publications

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“…Figure 12B shows a comparison of the weight, torque capabilities, and cost of the SWAG device with hip exoskeletons driven by electric motor actuation, including some state of the art traditional systems ( Kapsalyamov et al, 2019 ) as well as some state of the art cable-driven soft systems. The cost of the SWAG actuator is 43% cheaper than that presented by Tricomi et al, 44% cheaper than that presented by Zhang et al, 59% cheaper than those presented by Asbeck et al and Panizzolo et al, and 78% cheaper than that presented by Giovacchini et al ( Giovacchini et al, 2015 ; Panizzolo et al, 2016 ; Ting Zhang et al, 2017 ; Asbeck et al, 2015; Tricomi et al, 2022 ). The SWAG device weight and torque output are in range with contemporary electromechanically powered hip exoskeletons.…”

Section: Discussionmentioning

confidence: 77%

“…In the Walking motion, however, the device does not yet show comparable results with some electric-motor-driven solutions ( Panizzolo et al, 2016 ; Quinlivan et al, 2017 ; Wu et al, 2020 ; Panizzolo et al, 2021 ; Tricomi et al, 2022 ; Asbeck et al, 2015). Although the mean and maximum muscle efforts are reduced on average, this is not the case for each subject individually, and statistical significance is not found.…”

Section: Discussionmentioning

confidence: 89%

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A Wearable Soft Robotic Exoskeleton for Hip Flexion Rehabilitation

et al. 2022

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Leg motion is essential to everyday tasks, yet many face a daily struggle due to leg motion impairment. Traditional robotic solutions for lower limb rehabilitation have arisen, but they may bare some limitations due to their cost. Soft robotics utilizes soft, pliable materials which may afford a less costly robotic solution. This work presents a soft-pneumatic-actuator-driven exoskeleton for hip flexion rehabilitation. An array of soft pneumatic rotary actuators is used for torque generation. An analytical model of the actuators is validated and used to determine actuator parameters for the target application of hip flexion. The performance of the assembly is assessed, and it is found capable of the target torque for hip flexion, 19.8 Nm at 30°, requiring 86 kPa to reach that torque output. The assembly exhibits a maximum torque of 31 Nm under the conditions tested. The full exoskeleton assembly is then assessed with healthy human subjects as they perform a set of lower limb motions. For one motion, the Leg Raise, a muscle signal reduction of 43.5% is observed during device assistance, as compared to not wearing the device. This reduction in muscle effort indicates that the device is effective in providing hip flexion assistance and suggests that pneumatic-rotary-actuator-driven exoskeletons are a viable solution to realize more accessible options for those who suffer from lower limb immobility.

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Section: Discussionmentioning

confidence: 77%

Section: Discussionmentioning

confidence: 89%

A Wearable Soft Robotic Exoskeleton for Hip Flexion Rehabilitation

et al. 2022

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“…(c) Pneumatic actuator (Young et al, 2017b; Thakur et al, 2018). (d) Motor with Bowden cable (Kim et al, 2019; Tricomi et al, 2022). (e) Passive (Zhou et al, 2021a,b).…”

Section: The Framework Of Actuation Jointsmentioning

confidence: 99%

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Yang

et al. 2022

Wearable Technol.

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The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.

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“…Some researchers made full use of elastic elements and textile materials to build passive exosuits and explored their biomechanical effects during walking [ 63 ] or running [ 64 ]. The prototype based on Bowden cables could deliver the motor output along a fixed path to the anchor point of the anterior thigh, and lead to a metabolic reduction effect as well [ 65 , 67 ].…”

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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Underactuated Soft Hip Exosuit Based on Adaptive Oscillators to Assist Human Locomotion

Cited by 35 publications

References 25 publications

A Wearable Soft Robotic Exoskeleton for Hip Flexion Rehabilitation

A Wearable Soft Robotic Exoskeleton for Hip Flexion Rehabilitation

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Soft Wearable Robots: Development Status and Technical Challenges

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