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Design and evaluation of a soft assistive lower limb exoskeleton

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dc.contributor.author Di Natali, Christian
dc.contributor.author Poliero, Tommaso
dc.contributor.author Sposito, Matteo
dc.contributor.author Graf, Eveline
dc.contributor.author Bauer, Christoph
dc.contributor.author Pauli, Carole
dc.contributor.author Bottenberg, Eliza
dc.contributor.author de Eyto, Adam
dc.contributor.author O'Sullivan, Leonard
dc.contributor.author Hidalgo, Andrés F.
dc.contributor.author Scherly, Daniel
dc.contributor.author Stadler, Konrad S.
dc.contributor.author Caldwell, Darwin G.
dc.contributor.author Ortiz, Jesús
dc.date.accessioned 2019-03-06T09:38:05Z
dc.date.available 2019-03-06T09:38:05Z
dc.date.issued 2019
dc.identifier.uri http://hdl.handle.net/10344/7654
dc.description peer-reviewed en_US
dc.description.abstract Wearable devices are fast evolving to address mobility and autonomy needs of elderly people who would benefit from physical assistance. Recent developments in soft robotics provide important opportunities to develop soft exoskeletons (also called exosuits) to enable both physical assistance and improved usability and acceptance for users. The XoSoft EU project has developed a modular soft lower limb exoskeleton to assist people with low mobility impairments. In this paper, we present the design of a soft modular lower limb exoskeleton to improve person’s mobility, contributing to independence and enhancing quality of life. The novelty of this work is the integration of quasipassive elements in a soft exoskeleton. The exoskeleton provides mechanical assistance for subjects with low mobility impairments reducing energy requirements between 10% and 20%. Investigation of different control strategies based on gait segmentation and actuation elements is presented. A first hip–knee unilateral prototype is described, developed, and its performance assessed on a post-stroke patient for straight walking. The study presents an analysis of the human–exoskeleton energy patterns by way of the task-based biological power generation. The resultant assistance, in terms of power, was 10.9%± 2.2% for hip actuation and 9.3%± 3.5% for knee actuation. The control strategy improved the gait and postural patterns by increasing joint angles and foot clearance at specific phases of the walking cycle. en_US
dc.language.iso eng en_US
dc.publisher Cambridge University Press en_US
dc.relation 688175 en_US
dc.relation.ispartofseries Robotica; 37 (12), pp. 2014-2034
dc.relation.uri https://doi.org/10.1017/S0263574719000067
dc.subject soft exoskeleton en_US
dc.subject exosuit en_US
dc.subject robotic wearable device en_US
dc.subject quasi-passive actuation en_US
dc.subject legged locomotion en_US
dc.subject gait assistance en_US
dc.title Design and evaluation of a soft assistive lower limb exoskeleton en_US
dc.type info:eu-repo/semantics/article en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.identifier.doi 10.1017/S0263574719000067
dc.contributor.sponsor ERC en_US
dc.relation.projectid 688175 en_US
dc.rights.accessrights info:eu-repo/semantics/openAccess en_US
dc.internal.rssid 2899287


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