Development of a Soft Inflatable Exosuit for Knee Flexion Assistance

Ibrahim Mohammed Hasan, Emiliano Quinones Yumbla, Wenlong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Wearable robotics has shown to be effective for assisting in activities of daily living and restoring motor functions. The objective of this research is to develop a soft robotic exosuit for knee flexion assistance during normal walking and validate its ability to reduce the efforts of the knee flexor muscles: biceps femoris (BF) and semitendinosus (SM). The exosuit is powered by an inflatable curved fabric actuator with the capability to generate flexion torques at the knee joint. An analytical model to characterize the torque of the proposed actuator is derived and validated experimentally. It is found that the analytical torque model precisely matches the experimental results such that the highest root mean square error (RMSE) obtained is 1.237 Nm while the lowest is 0.188 Nm. In addition, the derived model outperformed a benchmark torque model such that its minimum and maximum RMSEs are approximately 90% and 70% less than the benchmark model respectively. A prototype of the knee exosuit is fabricated and tested on one healthy subject with different operating conditions to assist knee flexion during normal walking. The results show that by choosing the appropriate timing of inflation, the exosuit can reduce the electromyography activity of the BF and the SM by 32% and 23%, respectively, without impeding the knee extensor muscle or reducing the knee's range of motion.

Original languageEnglish (US)
Title of host publicationBioRob 2022 - 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society
ISBN (Electronic)9781665458498
DOIs
StatePublished - 2022
Event9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022 - Seoul, Korea, Republic of
Duration: Aug 21 2022Aug 24 2022

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2022-August
ISSN (Print)2155-1774

Conference

Conference9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022
Country/TerritoryKorea, Republic of
CitySeoul
Period8/21/228/24/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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