|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.|
|et. al :||No|
|Published in :||Wearable Robotics : Challenges and Trends|
|Editors of the parent work:||Carrozza, Maria Chiara|
Pons, José L.
|Series :||Biosystems & Biorobotics|
|Publisher / Ed. Institution :||Springer|
|Publisher / Ed. Institution:||Cham|
|Subject (DDC) :||610: Medicine and health |
|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.|
|Fulltext version :||Published version|
|License (according to publishing contract) :||Licence according to publishing contract|
|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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