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

Journal: Journal of neuroengineering and rehabilitation
Published Date: Jul 13, 2018

Abstract

BACKGROUND: 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.

Authors

  • Sangjun Lee
  • Jinsoo Kim
    Department of Natural Resources and Environmental Engineering, Hanyang University, Seoul, Korea.
  • Lauren Baker
    John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA.
  • Andrew Long
  • Nikos Karavas
    John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA.
  • Nicolas Menard
    John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA.
  • Ignacio Galiana
  • Conor J Walsh
    John A. Paulson School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA, 02138, USA. walsh@seas.harvard.edu.

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