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
Dec 28, 2006·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·André Schiele, Frans C T van der Helm
Sep 25, 2007·Gait & Posture·Raziel RiemerXudong Zhang
May 9, 2009·Journal of Applied Physiology·Alena M Grabowski, Hugh M Herr
Jun 23, 2009·Journal of Neuroengineering and Rehabilitation·Hugh Herr
Jul 28, 2010·IEEE Engineering in Medicine and Biology Magazine : the Quarterly Magazine of the Engineering in Medicine & Biology Society·José L Pons
Jan 8, 2011·Journal of Applied Physiology·Jesse C Dean, Arthur D Kuo
Feb 22, 2012·Sensors·Stefano Marco Maria De RossiMaria Chiara Carrozza
Oct 16, 2012·Journal of Applied Physiology·Dominic James Farris, Gregory S Sawicki
Feb 19, 2013·PloS One·Philippe MalcolmDirk De Clercq
Jun 26, 2013·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Ryan J FarrisMichael Goldfarb
Jun 3, 2014·Journal of Neuroengineering and Rehabilitation·Luke M MooneyHugh M Herr
Mar 20, 2015·The Journal of Experimental Biology·Karl E ZelikGregory S Sawicki
Apr 2, 2015·Nature·Steven H CollinsGregory S Sawicki
Apr 19, 2015·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmSteven H Collins
Jul 15, 2015·Journal of Applied Physiology·Rachel W Jackson, Steven H Collins
Dec 24, 2015·Journal of Applied Biomechanics·Michael S CherryDaniel P Ferris
May 14, 2016·Journal of Neuroengineering and Rehabilitation·Fausto A PanizzoloConor J Walsh
Dec 5, 2016·Gait & Posture·S GalleD De Clercq
Jan 18, 2017·Science Robotics·B T QuinlivanC J Walsh
Citations
Jun 21, 2019·Journal of Applied Physiology·Stephen Patrick Allen, Alena Marie Grabowski
Aug 17, 2019·Human Factors·Linda ShoreLeonard O'Sullivan
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 13, 2020·PloS One·Matthew B YandellKarl E Zelik
Jan 13, 2018·PloS One·Elizabeth Russell Esposito, Ross H Miller
Feb 23, 2020·Journal of Neuroengineering and Rehabilitation·Gregory S SawickiAaron J Young
Mar 20, 2018·Frontiers in Neuroscience·Philippe MalcolmDirk De Clercq
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
Oct 7, 2020·Science Robotics·Kirby A WitteSteven H Collins
Jan 23, 2021·Soft Robotics·Ciarán T O'NeillConor J Walsh
May 5, 2018·Journal of Biomechanics·Karl E Zelik, Eric C Honert
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