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Pneumatic quasi-passive actuation for soft assistive lower limbs exoskeleton

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dc.contributor.author Di Natali, Christian
dc.contributor.author Sadeghi, Ali
dc.contributor.author Mondini, Alessio
dc.contributor.author Bottenberg, Eliza
dc.contributor.author Hartigan, Bernard
dc.contributor.author de Eyto, Adam
dc.contributor.author O'Sullivan, Leonard
dc.contributor.author Rocon, Eduardo
dc.contributor.author Stadler, Konrad S.
dc.contributor.author Mazzolai, Barbara
dc.contributor.author Caldwell, Darwin G.
dc.contributor.author Ortiz, Jesús
dc.date.accessioned 2020-08-10T08:40:39Z
dc.date.available 2020-08-10T08:40:39Z
dc.date.issued 2020
dc.identifier.uri http://hdl.handle.net/10344/9087
dc.description peer-reviewed en_US
dc.description.abstract There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments. This paper presents the bio-inspired design of a soft, modular exoskeleton for lower limb assistance based on pneumatic quasi-passive actuation. The design of a modular reconfigurable prototype and its performance are presented. This actuation centers on an active mechanical element to modulate the assistance generated by a traditional passive component, in this case an elastic belt. This study assesses the feasibility of this type of assistive device by evaluating the energetic outcomes on a healthy subject during a walking task. Human-exoskeleton interaction in relation to task-based biological power assistance and kinematics variations of the gait are evaluated. The resultant assistance, in terms of overall power ratio (Λ) between the exoskeleton and the assisted joint, was 26. 6% for hip actuation, 9.3% for the knee and 12.6% for the ankle. The released maximum power supplied on each articulation, was 113.6% for the hip, 93.2% for the knee, and 150.8% for the ankle. en_US
dc.language.iso eng en_US
dc.publisher Frontiers Media en_US
dc.relation.ispartofseries Frontiers in Neurorobotics;14, 31
dc.subject soft exoskeleton en_US
dc.subject exosuit en_US
dc.subject robotic wearable device en_US
dc.subject legged locomotion, gait assistance en_US
dc.title Pneumatic quasi-passive actuation for soft assistive lower limbs 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 .3389/fnbot.2020.00031
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 2962840


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