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Development of a Soft Exosuit System for Walking Assistance During Stair Ascent and Descent
이희돈,Heejin Park,Bak Seongho,강태훈 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.10
An exosuit is a wearable robot that supports human muscular strength from outside the human body through multiple actuators. These actuators, which have similar functions to human muscles, reduce the weight compared to existing exoskeletons and minimize awareness of the different degrees of freedom. In this study, we developed an exosuit system that assists stair ascent and descent by supporting the power of the knee joint. To develop the hardware, we designed the entire system including functional apparel and a wire-driven actuator module. To provide the exosuit wearer with walking assistance, we established control strategies based on gait analysis and a force controller by applying the admittance control method. Then, to verify the usability of this system, we conducted an experiment comparing the muscle activity of users with and without the exosuit. The results revealed that the overall muscle activity of users decreased when they wore the proposed exosuit system. Specifically, the system reduced the muscle activity of the rectus femoris by up to 47% and 31% during stair ascent and descent, respectively. Therefore, the proposed exosuit system provides effective walking assistance.
Development of a Soft Exosuit for Lifting and Lowering Loads
Young Jin Moon,Wang-Lok Lee,Minju Shin,Myungsoo Choi,Jinhae Park,Wonjun Cho,Juwon Song 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.12
An analysis of industrial accidents revealed that workers in the manufacturing field suffered from various injuries resulting in a huge loss of workdays. In order for an exosuit to better support physical activities including strengthening the human body, we expect to develop it further that can prevent worker injuries and improve work efficiency at the same time in the field. This study aims to develop an algorithm to distinguish between the gait, lifting, and lowering motions using inertial measurement units (IMUs). We also plan to make a soft exosuit that can help lifting heavy objects using actuators enhancing muscular assistance in gait, lifting, and lowering motions. In the design of an exosuit, elastic bands are used to ensure wearer comfort and we try to make the weight of actuators as light as possible so as to more efficiently assist the human body. With the total weight 0.52 kg of the exosuit, the algorithm can detect the gait motion with a weighted F1 score of 0.8525 and the lifting and lowering motions with the 0.9494. Furthermore, in consideration of rectus femoris which is agonist muscle for walking, lifting, and lowering movements, it appears that the root mean square (RMS) values of the electromyograms (EMGs) for the left and right rectus femoris during the standing up activity are decreased by 24.22% and 20.86%, respectively, compared with the values measured without wearing the exosuit. Additionally, the assisting effect on other major muscles is also significant, demonstrating that the exosuit can assist in improving muscle strength.
Auxilio: A Portable Cable-Driven Exosuit for Upper Extremity Assistance
GAPONOVIGOR,유지환,Dmitry Popov,이승준 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This paper introduces a fully portable, lightweight exosuit-type device for shoulder and elbow assistance. The main motivation of this research was to design a portable upper limb exosuit capable to assist dynamic rehabilitationtasks where patient can involve trunk motions and overground movements (e.g., during pick-and-placetasks). The proposed system provides assistance for shoulder flexion and abduction, as well as for elbow flexion. The mechanism is driven by DC motors which are worn on the wearer’s back, and the power is transferred fromthe actuators to the arm by means of cable-driven transmission. The unique features of the proposed exosuit arethe absence of rigid links or joints around the arm, high compliance and portability. This paper describes operatingprinciple and kinematic model of the proposed exosuit and provides force analysis and experimental evaluation ofthe manufactured device. As the result of this work, we performed a simulation of rehabilitation scenario with thedeveloped wearable prototype.
Design of a Series Elastic Tendon Actuator Based on Gait Analysis for a Walking Assistance Exosuit
이희돈,문전일,강태훈 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.11
Exosuits are wearable robots that enhance a person’s muscular strength from outside the body. Many exosuits use tendon actuators with multiple wires that work similarly to human muscles to minimize user unfamiliarity caused by the discrepancy between the human body’s degree of freedom and the influence of the mass of the exoskeleton. This paper describes the design of a series elastic tendon actuator (SETA) to be used in exosuits. The SETA performs the agonist and antagonist functions of human muscles using two internal wires as well as elastic elements (springs) to measure the human–robot interaction force and overcome differences in variations occurring between the wires. We defined design objectives and selected the main components based on biomechanical gait analysis to design a small SETA. Moreover, we conducted an experiment to verify the basic performance of our SETA design.
Reinforced Flexible Shells: A Soft Customizable Anchoring Platform for a Knee Unloading Exosuit
C. Bundschu(크리스티안),S.-S. Yun(윤성식),K.-J. Cho(조규진) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
A variety of soft wearable devices have been designed to assist the biomechanics and rehabilitation of their wearables. However, soft materials application to push-based wearable systems is limited because they typically cannot withstand high compressive forces like those needed for unloading braces for individuals suffering from knee osteoarthritis (KOA). This study presents a knee unloading exosuit composed of a compliant, low-profile, and ergonomic reinforced flexible shell (RFS) anchoring platform capable of high compression resistance. When combined with another innovation – tendon driven linear sliding (TDLS) actuators-the combined system uniformly unloads the medial and lateral compartments of the wearer’s knee. RFS anchoring is composed of a combination of semi-rigid thermoplastic fabric and soft stretchable fabric to create a comfortable and customizable wearable pair of pants that can be tailored to a desired end-user. RFS Anchoring solves traditional compressive force limitation of other soft and semi-rigid materials by carefully constraining flexion along the material’s buckling axes to withstand and transmit forces orders of magnitude larger. Experiments were performed to evaluate the shift and deformation resistance of RFS anchoring compared to traditional rigid and soft anchoring conditions; RFS anchoring performed similarly to rigid anchoring.