Abstract
In this paper, we present a soft-inflatable exosuit to assist knee extension during gait training for stroke rehabilitation. The soft exosuit is designed to provide 25% of the knee moment required during the swing phase of the gait cycle and is integrated with inertial measurement units (IMUs) and smart shoe insole sensors to improve gait phase detection and controller design. The stiffness of the knee joint during level walking is computed using inverse dynamics. The soft-inflatable actuators, with an I cross-section, are mechanically characterized at varying angles to enable generation of the required stiffness outputs. A linear relation between the inflatable actuator stiffness and internal pressure as a function of the knee angle is obtained, and a two-layer stiffness controller is implemented to assist the knee joint by providing appropriate stiffness during the swing phase. Finally, to evaluate the ability of the exosuit to assist in swing motion, surface-electromyography (sEMG) sensors are placed on the three muscle groups of the quadriceps and two groups of the hamstrings, on three healthy participants. A reduction in muscle activity of the rectus femoris, vastus lateralis, and vastus medialis is observed, which demonstrates feasibility of operation and potential future usage of the soft inflatable exosuit by impaired users.
| Original language | English (US) |
|---|---|
| Article number | 44 |
| Journal | Frontiers Robotics AI |
| Volume | 5 |
| Issue number | MAY |
| DOIs | |
| State | Published - Jan 1 2018 |
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Keywords
- Assistive devices
- Soft exosuit
- Soft-inflatable actuators
- Stiffness control
- Wearable robotics
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
Cite this
A soft-inflatable exosuit for knee rehabilitation : Assisting swing phase during walking. / Sridar, Saivimal; Qiao, Zhi; Muthukrishnan, Niveditha; Zhang, Wenlong; Polygerinos, Panagiotis.
In: Frontiers Robotics AI, Vol. 5, No. MAY, 44, 01.01.2018.Research output: Contribution to journal › Article
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TY - JOUR
T1 - A soft-inflatable exosuit for knee rehabilitation
T2 - Assisting swing phase during walking
AU - Sridar, Saivimal
AU - Qiao, Zhi
AU - Muthukrishnan, Niveditha
AU - Zhang, Wenlong
AU - Polygerinos, Panagiotis
PY - 2018/1/1
Y1 - 2018/1/1
N2 - In this paper, we present a soft-inflatable exosuit to assist knee extension during gait training for stroke rehabilitation. The soft exosuit is designed to provide 25% of the knee moment required during the swing phase of the gait cycle and is integrated with inertial measurement units (IMUs) and smart shoe insole sensors to improve gait phase detection and controller design. The stiffness of the knee joint during level walking is computed using inverse dynamics. The soft-inflatable actuators, with an I cross-section, are mechanically characterized at varying angles to enable generation of the required stiffness outputs. A linear relation between the inflatable actuator stiffness and internal pressure as a function of the knee angle is obtained, and a two-layer stiffness controller is implemented to assist the knee joint by providing appropriate stiffness during the swing phase. Finally, to evaluate the ability of the exosuit to assist in swing motion, surface-electromyography (sEMG) sensors are placed on the three muscle groups of the quadriceps and two groups of the hamstrings, on three healthy participants. A reduction in muscle activity of the rectus femoris, vastus lateralis, and vastus medialis is observed, which demonstrates feasibility of operation and potential future usage of the soft inflatable exosuit by impaired users.
AB - In this paper, we present a soft-inflatable exosuit to assist knee extension during gait training for stroke rehabilitation. The soft exosuit is designed to provide 25% of the knee moment required during the swing phase of the gait cycle and is integrated with inertial measurement units (IMUs) and smart shoe insole sensors to improve gait phase detection and controller design. The stiffness of the knee joint during level walking is computed using inverse dynamics. The soft-inflatable actuators, with an I cross-section, are mechanically characterized at varying angles to enable generation of the required stiffness outputs. A linear relation between the inflatable actuator stiffness and internal pressure as a function of the knee angle is obtained, and a two-layer stiffness controller is implemented to assist the knee joint by providing appropriate stiffness during the swing phase. Finally, to evaluate the ability of the exosuit to assist in swing motion, surface-electromyography (sEMG) sensors are placed on the three muscle groups of the quadriceps and two groups of the hamstrings, on three healthy participants. A reduction in muscle activity of the rectus femoris, vastus lateralis, and vastus medialis is observed, which demonstrates feasibility of operation and potential future usage of the soft inflatable exosuit by impaired users.
KW - Assistive devices
KW - Soft exosuit
KW - Soft-inflatable actuators
KW - Stiffness control
KW - Wearable robotics
UR - http://www.scopus.com/inward/record.url?scp=85050078855&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050078855&partnerID=8YFLogxK
U2 - 10.3389/frobt.2018.00044
DO - 10.3389/frobt.2018.00044
M3 - Article
VL - 5
JO - Frontiers Robotics AI
JF - Frontiers Robotics AI
SN - 2296-9144
IS - MAY
M1 - 44
ER -