Evaluation of force tracking controller with soft exosuit for hip extension assistance

Hao Su, Ye Ding, Ignacio Galiana, Jozefien Speeckaert, Nikos Karavas, Philippe Malcolm, Christopher Siviy, Conor J. Walsh

Research output: Chapter in Book/Report/Conference proceedingChapter


This abstract describes the design and experimental evaluation of a force tracking controller for hip extension assistance utilizing a soft exosuit connected to a tethered off-board actuation system. The new controller aims to improve the force profile tracking capability and demonstrate its advantages over our previously reported work. The controller was evaluated by one healthy participant walking on a treadmill at 1.35 m/s. Results showed that the system can deliver a predefined force profile robustly with a 200 N peak force. The measured peak force value using force controller was 198.7 ± 2.9 N, and the root-mean-squared (RMS) error was 3.4 N (1.7% of desired peak force). These results indicate that the force control reduces peak force variability and improves force profile tracking capability.

Original languageEnglish (US)
Title of host publicationBiosystems and Biorobotics
PublisherSpringer International Publishing
Number of pages5
StatePublished - 2017
Externally publishedYes

Publication series

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

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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