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.
Pages : 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
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.
Fulltext version : Published version
License (according to publishing contract) : Licence according to publishing contract
Departement: Health Professions
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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