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Titel: Design and evaluation of a soft assistive lower limb exoskeleton
Autor/-in: Di Natali, Christian
Poliero, Tommaso
Sposito, Matteo
Graf, Eveline
Bauer, Christoph
Pauli, Carole
Bottenberg, Eliza
De Eyto, Adam
O’Sullivan, Leonard
Hidalgo, Andrés F.
Scherly, Daniel
Stadler, Konrad S.
Caldwell, Darwin G.
Ortiz, Jesús
Erschienen in: Robotica
Verlag / Hrsg. Institution: Cambridge University Press
Erscheinungsdatum: 26-Feb-2019
Lizenz (gemäss Verlagsvertrag): CC BY-NC-SA 4.0: Namensnennung - Nicht-kommerziell - Weitergabe unter gleichen Bedingungen 4.0 International
Art der Begutachtung: Peer review (Publikation)
Sprache: Englisch
Fachgebiet (DDC): 620: Ingenieurwesen
Zusammenfassung: Wearable devices are fast evolving to address mobility and autonomy needs of elderly people who would benefit from physical assistance. Recent developments in soft robotics provide important opportunities to develop soft exoskeletons (also called exosuits) to enable both physical assistance and improved usability and acceptance for users. The XoSoft EU project has developed a modular soft lower limb exoskeleton to assist people with low mobility impairments. In this paper, we present the design of a soft modular lower limb exoskeleton to improve person’s mobility, contributing to independence and enhancing quality of life. The novelty of this work is the integration of quasi-passive elements in a soft exoskeleton. The exoskeleton provides mechanical assistance for subjects with low mobility impairments reducing energy requirements between 10% and 20%. Investigation of different control strategies based on gait segmentation and actuation elements is presented. A first hip–knee unilateral prototype is described, developed, and its performance assessed on a post-stroke patient for straight walking. The study presents an analysis of the human–exoskeleton energy patterns by way of the task-based biological power generation. The resultant assistance, in terms of power, was 10.9% ± 2.2% for hip actuation and 9.3% ± 3.5% for knee actuation. The control strategy improved the gait and postural patterns by increasing joint angles and foot clearance at specific phases of the walking cycle.
Departement: Gesundheit
School of Engineering
Organisationseinheit: Institut für Mechatronische Systeme (IMS)
Institut für Physiotherapie (IPT)
Publikationstyp: Beitrag in wissenschaftlicher Zeitschrift
DOI: 10.21256/zhaw-3364
10.1017/S0263574719000067
ISSN: 0263-5747
1469-8668
URI: https://digitalcollection.zhaw.ch/handle/11475/15681
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