Physiological and kinematic effects of a soft exosuit on arm movements

Journal of Neuroengineering and Rehabilitation
M XiloyannisL Masia

Abstract

Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance for people with motor impairments. Understanding how these devices affect the physiology and mechanics of human movements is fundamental for quantifying their benefits and drawbacks, assessing their suitability for different applications and guiding a continuous design refinement. We present a novel wearable exosuit for assistance/augmentation of the elbow and introduce a controller that compensates for gravitational forces acting on the limb while allowing the suit to cooperatively move with its wearer. Eight healthy subjects wore the exosuit and performed elbow movements in two conditions: with assistance from the device (powered) and without assistance (unpowered). The test included a dynamic task, to evaluate the impact of the assistance on the kinematics and dynamics of human movement, and an isometric task, to assess its influence on the onset of muscular fatigue. Powered movements showed a low but significant degradation in accuracy and smoothness when compared to the unpowered ones. The degradation in kinemat...Continue Reading

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Citations

Jul 6, 2019·Frontiers in Neurorobotics·Michele XiloyannisLorenzo Masia
Jan 28, 2021·Frontiers in Robotics and AI·Francesco MissiroliLorenzo Masia
Feb 5, 2021·Frontiers in Robotics and AI·Domenico ChiaradiaAntonio Frisoli
Jan 7, 2021·Journal of Rehabilitation and Assistive Technologies Engineering·Aaron YurkewichAlex Mihailidis
Jun 15, 2021·Journal of Rehabilitation and Assistive Technologies Engineering·Zahra KadivarMarcia K O'Malley
Sep 5, 2021·Journal of Neuroengineering and Rehabilitation·Anna-Maria GeorgarakisRobert Riener

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