| Publication type: | Book part |
| Type of review: | Peer review (abstract) |
| Title: | An optimization approach to design control strategies for soft wearable passive exoskeletons |
| Authors: | Hidalgo Romero, Andres F. Graf, Eveline Rocon, Eduardo |
| et. al: | No |
| DOI: | 10.1007/978-3-030-01887-0_102 |
| Published in: | Wearable Robotics : Challenges and Trends |
| Editors of the parent work: | Carrozza, Maria Chiara Micera, Silvestro Pons, José L. |
| Page(s): | 525 |
| Pages to: | 529 |
| Issue Date: | 2019 |
| Series: | Biosystems & Biorobotics |
| Series volume: | 22 |
| Publisher / Ed. Institution: | Springer |
| Publisher / Ed. Institution: | Cham |
| ISBN: | 978-3-030-01886-3 978-3-030-01887-0 |
| Language: | English |
| Subject (DDC): | 610: Medicine and health 620: Engineering |
| Abstract: | Soft assistive devices constitute a promising alternative to help people with mobility impairments. Nevertheless, some issues as the control of these systems preclude from their generalized usage in common daily activities. The objective of this paper is to obtain the activation profile for controlling a clutched spring to store and release energy in a way that helps the subject to achieve a specific movement target. To do this, a parameter and partially constrained optimization method has been implemented. The results obtained showed a clutch activation profile which is synchronized with a reduction of the hip flexion torque exerted by the subject. Additionally, significant computational times savings have been obtained due to important reductions of the size of the optimization problem introduced by a partitioning of the state and control vectors. |
| URI: | https://digitalcollection.zhaw.ch/handle/11475/20008 |
| Fulltext version: | Published version |
| License (according to publishing contract): | Licence according to publishing contract |
| Departement: | School of Health Sciences |
| Organisational Unit: | Institute of Physiotherapy (IPT) |
| Published as part of the ZHAW project: | XoSoft – soft modular biomimetic exoskeleton to assist people with mobility impairments |
| Appears in collections: | Publikationen Gesundheit |
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Hidalgo Romero, A. F., Graf, E., & Rocon, E. (2019). An optimization approach to design control strategies for soft wearable passive exoskeletons. In M. C. Carrozza, S. Micera, & J. L. Pons (Eds.), Wearable Robotics : Challenges and Trends (pp. 525–529). Springer. https://doi.org/10.1007/978-3-030-01887-0_102
Hidalgo Romero, A.F., Graf, E. and Rocon, E. (2019) ‘An optimization approach to design control strategies for soft wearable passive exoskeletons’, in M.C. Carrozza, S. Micera, and J.L. Pons (eds) Wearable Robotics : Challenges and Trends. Cham: Springer, pp. 525–529. Available at: https://doi.org/10.1007/978-3-030-01887-0_102.
A. F. Hidalgo Romero, E. Graf, and E. Rocon, “An optimization approach to design control strategies for soft wearable passive exoskeletons,” in Wearable Robotics : Challenges and Trends, M. C. Carrozza, S. Micera, and J. L. Pons, Eds. Cham: Springer, 2019, pp. 525–529. doi: 10.1007/978-3-030-01887-0_102.
HIDALGO ROMERO, Andres F., Eveline GRAF und Eduardo ROCON, 2019. An optimization approach to design control strategies for soft wearable passive exoskeletons. In: Maria Chiara CARROZZA, Silvestro MICERA und José L. PONS (Hrsg.), Wearable Robotics : Challenges and Trends. Cham: Springer. S. 525–529. ISBN 978-3-030-01886-3
Hidalgo Romero, Andres F., Eveline Graf, and Eduardo Rocon. 2019. “An Optimization Approach to Design Control Strategies for Soft Wearable Passive Exoskeletons.” In Wearable Robotics : Challenges and Trends, edited by Maria Chiara Carrozza, Silvestro Micera, and José L. Pons, 525–29. Cham: Springer. https://doi.org/10.1007/978-3-030-01887-0_102.
Hidalgo Romero, Andres F., et al. “An Optimization Approach to Design Control Strategies for Soft Wearable Passive Exoskeletons.” Wearable Robotics : Challenges and Trends, edited by Maria Chiara Carrozza et al., Springer, 2019, pp. 525–29, https://doi.org/10.1007/978-3-030-01887-0_102.
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