TY - GEN
T1 - A Soft Robotic Hip Exosuit (SR-HExo) to Assist Hip Flexion and Extension during Human Locomotion
AU - Thalman, Carly M.
AU - Baye-Wallace, Lily
AU - Lee, Hyunglae
N1 - Funding Information:
∗ Corresponding Author: hyunglae.lee@asu.edu 1 Equally contributing first authors C.M. Thalman, L. Baye-Wallace, and H. Lee are with the Neuromuscular Control and Human Robotics Laboratory in the Ira A. Fulton Schools of Engineering, Arizona State University, AZ , USA. This work was funded by the Global Sport Institute of the adidas and Arizona State University (ASU) Global Sport Alliance. C. M. Thalman is funded by the National Science Foundation GRFP award #1841051.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper presents the design, fabrication, and preliminary results of a soft hip exosuit to assist hip flexion and extension during walking. The exosuit uses soft and compliant materials to create a wearable robot that has a low profile, low mass, and is highly flexible to freely move with the user's natural range of motion. The Soft Robotic Hip Exosuit (SR-HExo) consists of flat fabric pneumatic artificial muscles (ff-PAM) that contract when pressurized. The ff-PAM actuators are oriented in an 'X' shape to allow for natural range of motion across the hip joint and can generate 190 N of force at 200 kPa in a 0.3 sec window. The 'X' configuration (X-ff-PAM) actuators were placed on the anterior and posterior sides of the hip joint with height adjustable Velcro straps. Extension assistance and flexion assistance was provided in 10-45% and 50-90% of the gait cycle, respectively. To evaluate the effectiveness of the SR-HExo with healthy participants, hip range of motion and muscle activity during walking were monitored using a motion capture system and surface electromyography sensors. The impact of the SR-HExo on the range of motion was minimal with only a 4.0 reduction from the target range of motion of 30. The exosuit contributed to reducing hip muscle activity. Hip extensor muscles showed a reduction of 13.1% for the gluteus maximus and 6.6% for the biceps femoris. Hip flexor muscles showed a reduction of 10.7% for the iliacus and 27.7% for the rectus femoris.
AB - This paper presents the design, fabrication, and preliminary results of a soft hip exosuit to assist hip flexion and extension during walking. The exosuit uses soft and compliant materials to create a wearable robot that has a low profile, low mass, and is highly flexible to freely move with the user's natural range of motion. The Soft Robotic Hip Exosuit (SR-HExo) consists of flat fabric pneumatic artificial muscles (ff-PAM) that contract when pressurized. The ff-PAM actuators are oriented in an 'X' shape to allow for natural range of motion across the hip joint and can generate 190 N of force at 200 kPa in a 0.3 sec window. The 'X' configuration (X-ff-PAM) actuators were placed on the anterior and posterior sides of the hip joint with height adjustable Velcro straps. Extension assistance and flexion assistance was provided in 10-45% and 50-90% of the gait cycle, respectively. To evaluate the effectiveness of the SR-HExo with healthy participants, hip range of motion and muscle activity during walking were monitored using a motion capture system and surface electromyography sensors. The impact of the SR-HExo on the range of motion was minimal with only a 4.0 reduction from the target range of motion of 30. The exosuit contributed to reducing hip muscle activity. Hip extensor muscles showed a reduction of 13.1% for the gluteus maximus and 6.6% for the biceps femoris. Hip flexor muscles showed a reduction of 10.7% for the iliacus and 27.7% for the rectus femoris.
KW - Assistive Robots
KW - Rehabilitation
KW - Soft Robotics
KW - Wearable Robots
UR - http://www.scopus.com/inward/record.url?scp=85124343495&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85124343495&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636225
DO - 10.1109/IROS51168.2021.9636225
M3 - Conference contribution
AN - SCOPUS:85124343495
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5060
EP - 5066
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -