Introduction
Methods
Soft exosuit
Hardware implementation
Biologically inspired control
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T0: the start timing of the controller within a gait cycle.
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T1: the onset timing of the active cable retraction.
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T2: the completion timing of the active cable retraction.
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T3: the start timing of the cable release.
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PosOffset: Bowden cable position right before the active cable retraction (at T1).
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PosMax: Bowden cable position when the cable is fully retracted (from T2 to T3).
Multi-articular controller (MA)
Hip extension controller (HE)
Augmentation-power-based control parameter tuning
Tuning parameter selection
Positive augmentation power measurement
Online parameter tuning algorithm
Experimental protocol
Measurement and data processing
Results
Positive ankle augmentation power map
Subject-specific control parameters
Metabolic cost
Subject | STANDING [W/kg] | NO-DEVICE [W/kg] | EXO-OFF [W/kg] | EXO-ON [W/kg] | Net metabolic benefit [%] | Gross metabolic benefit [%] |
---|---|---|---|---|---|---|
S1 | 1.267 | 5.039 | 5.643 | 4.423 | 16.34% | 27.88% |
S2 | 1.025 | 4.975 | 5.172 | 4.457 | 13.12% | 17.26% |
S3 | 1.331 | 6.306 | 6.537 | 5.334 | 19.55% | 23.11% |
S4 | 1.707 | 6.258 | 6.613 | 5.705 | 12.15% | 18.50% |
S5 | 1.319 | 6.288 | 6.681 | 5.728 | 11.27% | 17.77% |
S6 | 1.486 | 4.929 | 5.768 | 4.394 | 15.53% | 32.08% |
S7 | 1.572 | 6.362 | 6.444 | 5.586 | 16.18% | 17.60% |
Mean (± SEM) | 14.88% (± 1.09%) | 22.03% (± 2.23%) |