Comparison of ankle moment inspired and ankle positive power inspired controllers for a multi-articular soft exosuit for walking assistance

Martin Grimmer, Brendan T. Quinlivan, Sangjun Lee, Philippe Malcolm, Denise M. Rossi, Christopher Siviy, Conor J. Walsh

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations

Abstract

Mobility can be limited due to age or impairments. Wearable robotics provide the chance to increase mobility and thus independence. A powered soft exosuit was designed that assist with both ankle plantarflexion and hip flexion through a multi-articular suit architecture. So far, the best method to reduce metabolic cost of human walking with external forces is unknown. Two basic control strategies are compared in this study: an ankle moment inspired controller (AMIC) and an ankle positive power inspired controller (APIC). Both controllers provided a similar amount of average positive exosuit power and reduced the net metabolic cost of walking by 15 %. These results suggest that average positive power could be more important than assistive moment during single stance for reducing metabolic cost. Further analysis must show if one of the approaches has advantages for wearers comfort, changes in walking kinetics and kinematics, balance related biomechanics, or electrical energy consumption.

Original languageEnglish (US)
Title of host publicationBiosystems and Biorobotics
PublisherSpringer International Publishing
Pages337-341
Number of pages5
DOIs
StatePublished - 2017

Publication series

NameBiosystems and Biorobotics
Volume16
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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    Grimmer, M., Quinlivan, B. T., Lee, S., Malcolm, P., Rossi, D. M., Siviy, C., & Walsh, C. J. (2017). Comparison of ankle moment inspired and ankle positive power inspired controllers for a multi-articular soft exosuit for walking assistance. In Biosystems and Biorobotics (pp. 337-341). (Biosystems and Biorobotics; Vol. 16). Springer International Publishing. https://doi.org/10.1007/978-3-319-46532-6_55