Wearable robotic devices have been shown to substantially reduce the energy expenditure of human walking. However, response variance between participants for fixed control strategies can be high, leading hypothesis that individualized controllers could further improve walking economy. Recent studies on human-in-the-loop (HIL) optimization elucidated several practical challenges, such as long experimental protocols and low signal-to-noise ratios. Here, we used Bayesian optimization-an...

Exosuits show much promise as a method for augmenting the body with lightweight, portable, and compliant wearable systems. We envision that such systems can be further refined so they sufficiently low profile to fit under wearer's existing clothing. Our focus is on creating an assistive device provides fraction of nominal biological torques does not provide external load transfer. In early work, we showed system substantially maintain normal biomechanics positively affect metabolic rate....

Many pneumatic energy sources are available for use in autonomous and wearable soft robotics, but it is often not obvious which options most desirable or even how to compare them. To address this, we review their relative merits. We evaluate commercially battery-based microcompressors (singly, parallel, series) cylinders of high-pressure fluid (air carbon dioxide). identify density (joules/gram) flow capacity (liters/gram) normalized by the mass entire fuel system (versus net mass) as key...

Recent advances in wearable robotic devices have demonstrated the ability to reduce metabolic cost of walking by assisting ankle joint. To achieve greater gains future it will be important determine optimal actuation parameters and explore effect other joints. The aim present work is investigate how timing hip extension assistance affects positive mechanical power delivered an exosuit its on biological joint during loaded walking. In this study, we evaluated 4 different assistive profiles...

To understand the effects of soft exosuits on human loaded walking, we developed a reconfigurable multi-joint actuation platform that can provide synchronized forces to ankle and hip joints. Two different assistive strategies were evaluated eight subjects walking treadmill at speed 1.25 m/s with 23.8 kg backpack: 1) extension assistance 2) (hip extension, plantarflexion flexion). Results show exosuit introduces minimum changes kinematics reduces biological joint moments. A reduction trend in...

The increasing capabilities of exoskeletons and powered prosthetics for walking assistance have paved the way more sophisticated individualized control strategies. In response to this opportunity, recent work on human-in-the-loop optimization has considered problem automatically tuning parameters based realtime physiological measurements. However, common use metabolic cost as a performance metric creates significant experimental challenges due its long measurement times low signal-to-noise...

Lower-limb wearable robots have been proposed as a means to augment or assist the wearer's natural performance, in particular, military and medical field. Previous research studies on human-robot interaction biomechanics largely performed with rigid exoskeletons that add significant inertia lower extremities provide constraints kinematics both actuated non-actuated degrees of freedom. Actuated lightweight soft exosuits minimize these effects unique opportunity study systems without affecting...

In this paper we describe an IMU-based iterative controller for hip extension assistance where the onset timing of is based on estimate maximum flexion angle. The was implemented a mono-articular soft exosuit coupled to lab-based multi-joint actuation platform that enables rapid reconfiguration different sensors and control strategy implementation. design motivated by model suit-human interface utilizes methodology includes gait detection step-by-step actuator position profile generation...

In this paper, we present the first application of a soft exosuit to assist walking after stroke. The combines textile garments with cable driven actuators and is lighter more compliant as compared traditional rigid exoskeletons. By avoiding use elements, exosuits offer greater comfort, facilitate donning/doffing, do not impose kinematic restrictions on wearer - all while retaining ability generate significant moments at target joints during walking. stroke-specific adapted from previous...

In this paper, we present a design and control approach of modular off-board actuation system with mono-articular hip exosuit, enabling the instantaneous assistive profile modification magnitude, shape, timing. The consists an unit two degrees freedom that can transmit forces to our soft exosuit via Bowden cables. To perform accurate force tracking cable slack management, implemented switching admittance-position utilizes advantages both admittance position control. particular, feedforward...

This paper details the design, analysis, fabrication, and validation of a deployable, atraumatic grasper intended for retraction manipulation tasks in manual robotic minimally invasive surgical (MIS) procedures. Fabricated using combination shape deposition manufacturing (SDM) 3D printing, device (which acts as deployable end-effector platforms) has potential to reduce risk intraoperative hemorrhage by providing soft, compliant interface between delicate tissue structures metal laparoscopic...

Laparoscopic pancreaticoduodenectomy (also known as the Whipple procedure) is a highly-complex minimally-invasive surgical (MIS) procedure used to remove cancer from head of pancreas. While mortality rates MIS approach are comparable with those open procedures, morbidity remain high due delicate nature pancreatic tissue, proximity high-pressure vasculature, and number complex anastomoses required [1]. The sharp, rigid tools forceps manipulate these structures, coupled lack haptic feedback,...

The ability to control the ankle muscles and produce adequate range of motion in joints are key components gait balance function. Patients who suffer from neurological impairments, such as stroke or traumatic brain injury, frequently lose function due part loss control. Described this paper is a unique two degree freedom (DOF) mechatronic device with virtual reality interface that has been developed meet needs patients for rehabilitation. Northeastern University Virtual Ankle Balance Trainer...

Emerging technologies such as rehabilitation robots (RehaBot) for retraining upper and lower limb functions have shown to carry tremendous potential improve outcomes. Hstar Technologies is developing a revolutionary robot system enhancing healthcare quality patients with neurological muscular injuries or functional impairments. The design of RehaBot safe robust that can be run at hospital under the direct monitoring interactive supervision control remote site via telepresence operation...

This paper presents the process of circuit and field coupled finite element (FE) modeling permanent magnet synchronous motor (PMSM). Compared with traditional centralized parameters model presented can consider many effects to dynamic performance PMSM, such as saturation iron materials, eddy current, relative movement teeth slots high-order harmonics in both time space domains. Dual closed control loop also be into FE form global system simulation, if we make step very small. An application...