Autonomous Soft Exosuit for Hip Extension Assistance

2016 ◽  
pp. 331-335 ◽  
Author(s):  
Nikos Karavas ◽  
Jinsoo Kim ◽  
Ignacio Galiana ◽  
Ye Ding ◽  
Adam Couture ◽  
...  
Keyword(s):  
Hip Extension ◽  
Soft Exosuit

Evaluation of Force Tracking Controller with Soft Exosuit for Hip Extension Assistance

2016 ◽  
pp. 107-111
Author(s):  
Hao Su ◽  
Ye Ding ◽  
Ignacio Galiana ◽  
Jozefien Speeckaert ◽  
Nikos Karavas ◽  
...  
Keyword(s):  
Tracking Controller ◽  
Force Tracking ◽  
Hip Extension ◽  
Soft Exosuit

scholarly journals Effect of timing of hip extension assistance during loaded walking with a soft exosuit

2016 ◽  
Vol 13 (1) ◽  
Author(s):  
Ye Ding ◽  
Fausto A. Panizzolo ◽  
Christopher Siviy ◽  
Philippe Malcolm ◽  
Ignacio Galiana ◽  
...  
Keyword(s):  
Hip Extension ◽  
Loaded Walking ◽  
Soft Exosuit

Human-in-the-Loop Bayesian Optimization of a Tethered Soft Exosuit for Assisting Hip Extension

2018 ◽  
pp. 142-146 ◽  
Author(s):  
Myunghee Kim ◽  
Ye Ding ◽  
Charles Liu ◽  
Jinsoo Kim ◽  
Sangjun Lee ◽  
...  
Keyword(s):  
Bayesian Optimization ◽  
Human In The Loop ◽  
Hip Extension ◽  
Soft Exosuit

IMU-based iterative control for hip extension assistance with a soft exosuit

2016 ◽  
Author(s):  
Ye Ding ◽  
Ignacio Galiana ◽  
Christopher Siviy ◽  
Fausto A. Panizzolo ◽  
Conor Walsh
Keyword(s):  
Iterative Control ◽  
Hip Extension ◽  
Soft Exosuit

scholarly journals A Novel Lightweight Wearable Soft Exosuit for Reducing the Metabolic Rate and Muscle Fatigue

Biosensors ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 215
Author(s):  
Lingxing Chen ◽  
Chunjie Chen ◽  
Zhuo Wang ◽  
Xin Ye ◽  
Yida Liu ◽  
...  
Keyword(s):  
Muscle Fatigue ◽  
Vastus Lateralis ◽  
Rectus Femoris ◽  
The Novel ◽  
Robotic Devices ◽  
Extra Weight ◽  
Hip Flexion ◽  
Rehabilitation Exercises ◽  
Hip Extension ◽  
Soft Exosuit

Wearable robotic devices have been proved to considerably reduce the energy expenditure of human walking. It is not only suitable for healthy people, but also for some patients who require rehabilitation exercises. However, in many cases, the weight of soft exosuits are relatively large, which makes it difficult for the assistant effect of the system to offset the metabolic consumption caused by the extra weight, and the heavy weight will make people uncomfortable. Therefore, reducing the weight of the whole system as much as possible and keeping the soft exosuit output power unchanged, may improve the comfort of users and further reduce the metabolic consumption. In this paper, we show that a novel lightweight soft exosuit which is currently the lightest among all known powered exoskeletons, which assists hip flexion. Indicated from the result of experiment, the novel lightweight soft exosuit reduces the metabolic consumption rate of wearers when walking on the treadmill at 5 km per hour by 11.52% compared with locomotion without the exosuit. Additionally, it can reduce more metabolic consumption than the hip extension assisted (HEA) and hip flexion assisted (HFA) soft exosuit which our team designed previously, which has a large weight. The muscle fatigue experiments show that using the lightweight soft exosuit can also reduce muscle fatigue by about 10.7%, 40.5% and 5.9% for rectus femoris, vastus lateralis and gastrocnemius respectively compared with locomotion without the exosuit. It is demonstrated that decreasing the weight of soft exosuit while maintaining the output almost unchanged can further reduce metabolic consumption and muscle fatigue, and appropriately improve the users’ comfort.

IMU-based Optimization Control of a Soft Exosuit for Hip Extension and Flexion Assistance

2021 ◽  
pp. 1-29
Author(s):  
Qiang Chen ◽  
Shijie Guo ◽  
Lei Sun ◽  
Qiming Liu ◽  
Shanhai Jin
Keyword(s):  
Inertial Measurement Unit ◽  
Gait Cycle ◽  
Constant Speed ◽  
Measurement Unit ◽  
Optimal Parameters ◽  
Optimization Control ◽  
Outdoor Walking ◽  
Walking Tests ◽  
Hip Extension ◽  
Soft Exosuit

Abstract The optimization of the assistive force for soft exosuits is crucial to the improvement of their assistive efficiency. In this paper, an inertial measurement unit (IMU)-based optimization controller was proposed to provide effective hip extension and flexion assistance for soft hip-assistive exosuits during outdoor walking. Initially, the optimal parameters of the assistive profiles defined by two functions were determined based on an analysis of biological hip power. Secondly, the assistive profiles were optimized in real time based on the detected information of hip angles from two IMUs bound to both thighs. Specifically, the peak and offset timings of the assistive profiles were estimated from the previous gait cycle, while the start and stop timings were estimated using current gait information. Lastly, the experiments including four subjects were scheduled to evaluate the performance of proposed controller. Each subject carried a 15kg load to walk on a treadmill at a constant speed, and two of them completed the outdoor walking tests at a self-determined pace while carried a 15kg load. The results show that the assistive profiles can be reliably and orderly delivered across the subjects. In particular, during outdoor self-paced walking, the wearer's natural gait can be maintained by optimizing the assistive profiles. During walking on a treadmill at a constant speed of 1.53 m/s, metabolic rate wearing the soft exosuit with assistance turned on was reduced by 8.53 ± 2.65% (average ± SEM), compared with wearing the soft exosuit with assistance turned off.

Autonomous soft exosuit with hip extension assistance for overground walking and jogging

2017 ◽  
Author(s):  
Dabin Choe ◽  
Jinsoo Kim ◽  
Giuk Lee ◽  
Nikos Karavas ◽  
Nicolas Menard ◽  
...  
Keyword(s):  
Overground Walking ◽  
Hip Extension ◽  
Soft Exosuit

Legal Update: North Dakota Supreme Court: Third Edition of Guides is “Most Current”

1999 ◽  
Vol 4 (1) ◽  
pp. 6-7
Author(s):  
James J. Mangraviti
Keyword(s):  
Internal Rotation ◽  
External Rotation ◽  
Measurement Techniques ◽  
Fourth Edition ◽  
Hip Motion ◽  
The Difference ◽  
The Right ◽  
Hip Flexion ◽  
Hip Rotation ◽  
Hip Extension

Abstract The accurate measurement of hip motion is critical when one rates impairments of this joint, makes an initial diagnosis, assesses progression over time, and evaluates treatment outcome. The hip permits all motions typical of a ball-and-socket joint. The hip sacrifices some motion but gains stability and strength. Figures 52 to 54 in AMA Guides to the Evaluation of Permanent Impairment (AMA Guides), Fourth Edition, illustrate techniques for measuring hip flexion, loss of extension, abduction, adduction, and external and internal rotation. Figure 53 in the AMA Guides, Fourth Edition, illustrates neutral, abducted, and adducted positions of the hip and proper alignment of the goniometer arms, and Figure 52 illustrates use of a goniometer to measure flexion of the right hip. In terms of impairment rating, hip extension (at least any beyond neutral) is irrelevant, and the AMA Guides contains no figures describing its measurement. Figure 54, Measuring Internal and External Hip Rotation, demonstrates proper positioning and measurement techniques for rotary movements of this joint. The difference between measured and actual hip rotation probably is minimal and is irrelevant for impairment rating. The normal internal rotation varies from 30° to 40°, and the external rotation ranges from 40° to 60°.

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