Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking

Journal of Neuroengineering and Rehabilitation
Sangjun LeeConor J Walsh

Abstract

Soft exosuits are a recent approach for assisting human locomotion, which apply assistive torques to the wearer through functional apparel. Over the past few years, there has been growing recognition of the importance of control individualization for such gait assistive devices to maximize benefit to the wearer. In this paper, we present an updated version of autonomous multi-joint soft exosuit, including an online parameter tuning method that customizes control parameters for each individual based on positive ankle augmentation power. The soft exosuit is designed to assist with plantarflexion, hip flexion, and hip extension while walking. A mobile actuation system is mounted on a military rucksack, and forces generated by the actuation system are transmitted via Bowden cables to the exosuit. The controller performs an iterative force-based position control of the Bowden cables on a step-by-step basis, delivering multi-articular (plantarflexion and hip flexion) assistance during push-off and hip extension assistance in early stance. To individualize the multi-articular assistance, an online parameter tuning method was developed that customizes two control parameters to maximize the positive augmentation power delivered to the a...Continue Reading

References

Aug 16, 2005·Gait & Posture·Daniel P FerrisAmmanath Peethambaran
May 13, 1983·Science·S KirkpatrickM P Vecchi
Jun 25, 2009·Journal of Neuroengineering and Rehabilitation·Gregory S Sawicki, Daniel P Ferris
Feb 1, 2008·The International Journal of Robotics Research·Frank SupMichael Goldfarb
Jun 3, 2014·Journal of Neuroengineering and Rehabilitation·Luke M MooneyHugh M Herr
Apr 2, 2015·Nature·Steven H CollinsGregory S Sawicki
Jul 15, 2015·Journal of Applied Physiology·Rachel W Jackson, Steven H Collins
Sep 27, 2015·Annals of Biomedical Engineering·He HuangDing Wang
Nov 6, 2015·Journal of Neuroengineering and Rehabilitation·Jeffrey R KollerC David Remy
Jan 29, 2016·Journal of Neuroengineering and Rehabilitation·Luke M Mooney, Hugh M Herr
Feb 6, 2016·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Ye DingConor Walsh
May 14, 2016·Journal of Neuroengineering and Rehabilitation·Fausto A PanizzoloConor J Walsh
Apr 30, 2017·Journal of Neuroengineering and Rehabilitation·Samuel GalleDirk De Clercq
May 20, 2017·Journal of Neuroengineering and Rehabilitation·Matthew B YandellKarl E Zelik
Jun 24, 2017·Science·Juanjuan ZhangSteven H Collins
Jun 28, 2017·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmConor J Walsh
Jul 14, 2017·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmConor J Walsh
Jul 28, 2017·Science Translational Medicine·Louis N AwadConor J Walsh
Sep 20, 2017·PloS One·Myunghee KimScott Kuindersma

❮ Previous
Next ❯

Citations

Sep 15, 2020·Frontiers in Bioengineering and Biotechnology·Hangil LeeHyung-Soon Park
Feb 23, 2020·Journal of Neuroengineering and Rehabilitation·Gregory S SawickiAaron J Young
May 31, 2020·Scientific Reports·Samuel F Ray, Kota Z Takahashi
Oct 27, 2020·Soft Robotics·Juan M Alvarez-PalacioNazih Mechbal
Oct 30, 2020·International Journal of Environmental Research and Public Health·Chin Leong Lim
Nov 10, 2020·JMIR MHealth and UHealth·Lin LuZhewei Ye
May 5, 2021·European Journal of Sport Science·Kurt MudieMichael LaFiandra
Jun 11, 2021·Journal of Applied Biomechanics·Thiago R T SantosKenneth G Holt
Jul 1, 2021·Annals of Biomedical Engineering·Taryn A HarveyZachary F Lerner
Jul 29, 2021·Journal of Neuroengineering and Rehabilitation·Romain BaudMohamed Bouri
Oct 9, 2021·Bioinspiration & Biomimetics·Vahid FirouziMaziar A Sharbafi
Jul 27, 2020··Henry F. CappelHuang Huang

❮ Previous
Next ❯

Software Mentioned

DEVICE
PosOffset
NO
MATLAB

Related Concepts

Related Feeds

Biomechanics

Biomechanics examines the generation of internal forces within the body and investigates the effects and control of forces that act on or are produced on tissues. Here are the latest discoveries.

Related Papers

IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
Ye DingConor J Walsh
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Alan T AsbeckConor J Walsh
© 2022 Meta ULC. All rights reserved