Soft wearable device for lower limb assistance : assessment of an optimized energy efficient actuation prototype
| Autor: | Adam de Eyto, Jesús Ortiz, Darwin G. Caldwell, Carole Pauli, Christian Di Natali, Tommaso Poliero, Eveline Graf, Matteo Sposito, Eliza Bottenberg |
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| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Work (physics) Wearable computer Robotics 02 engineering and technology Modular design 021001 nanoscience & nanotechnology 620: Ingenieurwesen Exoskeleton 615: Pharmakologie und Therapeutik 020901 industrial engineering & automation Gait (human) Artificial intelligence 0210 nano-technology business Simulation Wearable technology Efficient energy use |
| Zdroj: | RoboSoft 2018 IEEE International Conference on Soft Robotics (RoboSoft) |
| Popis: | There is a shared trend, in engineering fields related to robotics, to privilege soft systems on behalf of hard ones. This direction stems from the desire of designing and implementing energetically efficient systems that are light, soft, wieldy, reconfigurable and with augmented dexterity. Soft wearable devices will also improve very important characteristics such as wearability and comfort. The design and implementation of a wearable system meeting these requirements is being developed in the XoSoft EU project. In this work we present the design of a soft modular energy-efficient lower limb exoskeleton. It is based on an energy efficiency analysis optimization. Novelty of this work is given by the integration of quasi-passive actuations in a soft exoskeleton. The goal is to assist-during daily tasks-subjects with low to moderate mobility impairments reducing by 10% to 30% the mechanical energy requirements and improving the gait (stability, tiredness, etc). Assistance is meant to be on hip, knee and ankle, in a unilateral or bilateral configuration. A first modular single-joint prototype is described, developed and assessed on a post-stroke patient gait. The comparison between the validation and the simulation showed a similar behavior and an energy reduction of 7.8%. The overall measured assistance given by the exoskeleton on the user's hip segment in terms of power is 9.3%. |
| Databáze: | OpenAIRE |
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