Physical interface dynamics alter how robotic exosuits augment human movement: implications for optimizing wearable assistive devices

Journal of Neuroengineering and Rehabilitation
Matthew B YandellKarl E Zelik

Abstract

Wearable assistive devices have demonstrated the potential to improve mobility outcomes for individuals with disabilities, and to augment healthy human performance; however, these benefits depend on how effectively power is transmitted from the device to the human user. Quantifying and understanding this power transmission is challenging due to complex human-device interface dynamics that occur as biological tissues and physical interface materials deform and displace under load, absorbing and returning power. Here we introduce a new methodology for quickly estimating interface power dynamics during movement tasks using common motion capture and force measurements, and then apply this method to quantify how a soft robotic ankle exosuit interacts with and transfers power to the human body during walking. We partition exosuit end-effector power (i.e., power output from the device) into power that augments ankle plantarflexion (termed augmentation power) vs. power that goes into deformation and motion of interface materials and underlying soft tissues (termed interface power). We provide empirical evidence of how human-exosuit interfaces absorb and return energy, reshaping exosuit-to-human power flow and resulting in three key con...Continue Reading

References

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Citations

Nov 21, 2019·Journal of Neuroengineering and Rehabilitation·David J Reinkensmeyer
Jul 14, 2017·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmConor J Walsh
Jul 14, 2018·Journal of Neuroengineering and Rehabilitation·Sangjun LeeConor J Walsh
Feb 23, 2020·Journal of Neuroengineering and Rehabilitation·Gregory S SawickiAaron J Young
Oct 5, 2018·Journal of Neuroengineering and Rehabilitation·Marta MoltedoDirk Lefeber
May 11, 2019·Journal of Neuroengineering and Rehabilitation·Maria Del Carmen Sanchez-VillamañanJose L Pons
Jan 23, 2021·Soft Robotics·Ciarán T O'NeillConor J Walsh
Jun 27, 2018·Frontiers in Robotics and AI·Daniel F N GordonSethu Vijayakumar
Jul 14, 2021·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Fahad HussainMasoud Mohammadian
Oct 6, 2021·International Journal of Occupational Safety and Ergonomics : JOSE·Unai Latorre ErezumaAna Rodriguez-Larrad

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Methods Mentioned

BETA
force measurements

Software Mentioned

Motion
Visual3D

Related Concepts

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