Evaluation of force tracking controller with soft exosuit for hip extension assistance

Hao Su, Ye Ding, Ignacio Galiana, Jozefien Speeckaert, Nikos Karavas, Philippe Malcolm, Christopher Siviy, Conor J. Walsh

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This abstract describes the design and experimental evaluation of a force tracking controller for hip extension assistance utilizing a soft exosuit connected to a tethered off-board actuation system. The new controller aims to improve the force profile tracking capability and demonstrate its advantages over our previously reported work. The controller was evaluated by one healthy participant walking on a treadmill at 1.35 m/s. Results showed that the system can deliver a predefined force profile robustly with a 200 N peak force. The measured peak force value using force controller was 198.7 ± 2.9 N, and the root-mean-squared (RMS) error was 3.4 N (1.7% of desired peak force). These results indicate that the force control reduces peak force variability and improves force profile tracking capability.

Original languageEnglish (US)
Title of host publicationBiosystems and Biorobotics
PublisherSpringer International Publishing
Pages107-111
Number of pages5
DOIs
StatePublished - Jan 1 2017

Publication series

NameBiosystems and Biorobotics
Volume16
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

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Controllers
Exercise equipment
Force control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

Su, H., Ding, Y., Galiana, I., Speeckaert, J., Karavas, N., Malcolm, P., ... Walsh, C. J. (2017). Evaluation of force tracking controller with soft exosuit for hip extension assistance. In Biosystems and Biorobotics (pp. 107-111). (Biosystems and Biorobotics; Vol. 16). Springer International Publishing. https://doi.org/10.1007/978-3-319-46532-6_18

Evaluation of force tracking controller with soft exosuit for hip extension assistance. / Su, Hao; Ding, Ye; Galiana, Ignacio; Speeckaert, Jozefien; Karavas, Nikos; Malcolm, Philippe; Siviy, Christopher; Walsh, Conor J.

Biosystems and Biorobotics. Springer International Publishing, 2017. p. 107-111 (Biosystems and Biorobotics; Vol. 16).

Research output: Chapter in Book/Report/Conference proceedingChapter

Su, H, Ding, Y, Galiana, I, Speeckaert, J, Karavas, N, Malcolm, P, Siviy, C & Walsh, CJ 2017, Evaluation of force tracking controller with soft exosuit for hip extension assistance. in Biosystems and Biorobotics. Biosystems and Biorobotics, vol. 16, Springer International Publishing, pp. 107-111. https://doi.org/10.1007/978-3-319-46532-6_18
Su H, Ding Y, Galiana I, Speeckaert J, Karavas N, Malcolm P et al. Evaluation of force tracking controller with soft exosuit for hip extension assistance. In Biosystems and Biorobotics. Springer International Publishing. 2017. p. 107-111. (Biosystems and Biorobotics). https://doi.org/10.1007/978-3-319-46532-6_18
Su, Hao ; Ding, Ye ; Galiana, Ignacio ; Speeckaert, Jozefien ; Karavas, Nikos ; Malcolm, Philippe ; Siviy, Christopher ; Walsh, Conor J. / Evaluation of force tracking controller with soft exosuit for hip extension assistance. Biosystems and Biorobotics. Springer International Publishing, 2017. pp. 107-111 (Biosystems and Biorobotics).
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