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Physical interface dynamics alter how robotic exosuits augment human movement: implications for optimizing wearable

Matthew B Yandell1, Brendan T Quinlivan2, Dmitry Popov2

  • 1Department of Mechanical Engineering, Vanderbilt University, 2301 Vanderbilt Place, PMB 401592, Nashville, TN, 37240-1592, USA. matthew.yandell@vanderbilt.edu.

Journal of Neuroengineering and Rehabilitation
|May 20, 2017
PubMed
Summary

Wearable robots can improve mobility, but power transfer is complex. This study shows that while interfaces absorb significant power, most is returned, effectively augmenting ankle movement during walking.

Keywords:
ExoskeletonHuman augmentationJoint kineticsPhysical human-robot interactionPower transferRehabilitationSoft tissueWearable robot

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Area of Science:

  • Biomechanics
  • Robotics
  • Human Augmentation

Background:

  • Wearable assistive devices offer potential for mobility improvement and performance augmentation.
  • Effective power transmission from device to user is crucial for these benefits.
  • Human-device interface dynamics, involving tissue and material deformation, complicate power transmission quantification.

Purpose of the Study:

  • Introduce a novel methodology for rapid estimation of interface power dynamics.
  • Quantify power transfer between a soft robotic ankle exosuit and the human body during walking.
  • Differentiate between power augmenting ankle plantarflexion and power absorbed by the interface.

Main Methods:

  • Utilized common motion capture and force measurements for power dynamics estimation.
  • Applied the methodology to a soft robotic ankle exosuit during walking tasks.
  • Partitioned exosuit end-effector power into augmentation and interface power components.

Main Results:

  • Approximately 55% of exosuit power was absorbed by interfaces during loading.
  • Most absorbed interface power was returned viscoelastically during unloading.
  • The majority (75%) of exosuit work augmented ankle plantarflexion, with a delay due to interface dynamics.

Conclusions:

  • Human-exosuit interface dynamics significantly influence power transmission from wearable robots.
  • Accounting for these dynamics is essential for optimizing wearable assistive device design and control.
  • Understanding interface energy absorption and return is key to maximizing human augmentation benefits.