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Adaptive model-based myoelectric control for a soft wearable arm exosuit: a new generation of wearable robot control

Despite advances in mechatronic design, the widespread adoption of wearable robots for supporting human mobility has been hampered by 1) ergonomic limitations in rigid exoskeletal structures and 2) the lack of human-machine interfaces (HMIs) capable of sensing musculoskeletal states and translating...

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Bibliographic Details
Main Authors: Lotti, Nicola (Author) , Masia, Lorenzo (Author)
Format: Article (Journal)
Language:English
Published: 20 January 2020
In: IEEE robotics & automation magazine
Year: 2020, Volume: 27, Issue: 1, Pages: 43-53
DOI:10.1109/MRA.2019.2955669
Online Access:Verlag, lizenzpflichtig, Volltext: https://doi.org/10.1109/MRA.2019.2955669
Verlag: https://ieeexplore.ieee.org/abstract/document/8963852
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Author Notes:Nicola Lotti, Michele Xiloyannis, Guillaume Durandau, Elisa Galofaro, Vittorio Sanguineti, Lorenzo Masia, Massimo Sartori
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Summary:Despite advances in mechatronic design, the widespread adoption of wearable robots for supporting human mobility has been hampered by 1) ergonomic limitations in rigid exoskeletal structures and 2) the lack of human-machine interfaces (HMIs) capable of sensing musculoskeletal states and translating them into robot-control commands. We have developed a framework that combines, for the first time, a model-based HMI with a soft wearable arm exosuit that has the potential to address key limitations in current HMIs and wearable robots. The proposed framework was tested on six healthy subjects who performed elbow rotations across different joint velocities and lifting weights. The results showed that the model-controlled exosuit operated synchronously with biological muscle contraction. Remarkably, the exosuit dynamically modulated mechanical assistance across all investigated loads, thereby displaying adaptive behavior.
Item Description:Gesehen am 29.04.2020
Physical Description:Online Resource
DOI:10.1109/MRA.2019.2955669

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