Pneumatic quasi-passive actuation for soft assistive lower limbs exoskeleton

Di Natali, Christian; Sadeghi, Ali; Mondini, Alessio; Bottenberg, Eliza; Hartigan, Bernard; De Eyto, Adam; O'Sullivan, Leonard; Rocon, Eduardo; Stadler, Konrad; Mazzolai, Barbara; Caldwell, Darwin G.; Ortiz, Jesús

doi:10.3389/fnbot.2020.00031

Please use this identifier to cite or link to this item: https://doi.org/10.21256/zhaw-20855

Publication type:	Article in scientific journal
Type of review:	Peer review (publication)
Title:	Pneumatic quasi-passive actuation for soft assistive lower limbs exoskeleton
Authors:	Di Natali, Christian Sadeghi, Ali Mondini, Alessio Bottenberg, Eliza Hartigan, Bernard De Eyto, Adam O'Sullivan, Leonard Rocon, Eduardo Stadler, Konrad Mazzolai, Barbara Caldwell, Darwin G. Ortiz, Jesús
et. al:	No
DOI:	10.3389/fnbot.2020.00031 10.21256/zhaw-20855
Published in:	Frontiers in Neurorobotics
Volume(Issue):	14
Issue:	31
Issue Date:	30-Jun-2020
Publisher / Ed. Institution:	Frontiers Research Foundation
ISSN:	1662-5218
Language:	English
Subjects:	Exosuit; Gait assistance; Legged locomotion; Quasi-passive actuation; Robotic wearable device; Soft exoskeleton
Subject (DDC):	610: Medicine and health 620: Engineering
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.
URI:	https://digitalcollection.zhaw.ch/handle/11475/20855
Fulltext version:	Published version
License (according to publishing contract):	CC BY 4.0: Attribution 4.0 International
Departement:	School of Engineering
Organisational Unit:	Institute of Mechatronic Systems (IMS)
Published as part of the ZHAW project:	XoSoft – soft modular biomimetic exoskeleton to assist people with mobility impairments
Appears in collections:	Publikationen School of Engineering

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Di Natali, C., Sadeghi, A., Mondini, A., Bottenberg, E., Hartigan, B., De Eyto, A., O’Sullivan, L., Rocon, E., Stadler, K., Mazzolai, B., Caldwell, D. G., & Ortiz, J. (2020). Pneumatic quasi-passive actuation for soft assistive lower limbs exoskeleton. Frontiers in Neurorobotics, 14(31). https://doi.org/10.3389/fnbot.2020.00031

Di Natali, C. et al. (2020) ‘Pneumatic quasi-passive actuation for soft assistive lower limbs exoskeleton’, Frontiers in Neurorobotics, 14(31). Available at: https://doi.org/10.3389/fnbot.2020.00031.

C. Di Natali et al., “Pneumatic quasi-passive actuation for soft assistive lower limbs exoskeleton,” Frontiers in Neurorobotics, vol. 14, no. 31, Jun. 2020, doi: 10.3389/fnbot.2020.00031.

DI NATALI, Christian, Ali SADEGHI, Alessio MONDINI, Eliza BOTTENBERG, Bernard HARTIGAN, Adam DE EYTO, Leonard O’SULLIVAN, Eduardo ROCON, Konrad STADLER, Barbara MAZZOLAI, Darwin G. CALDWELL und Jesús ORTIZ, 2020. Pneumatic quasi-passive actuation for soft assistive lower limbs exoskeleton. Frontiers in Neurorobotics. 30 Juni 2020. Bd. 14, Nr. 31. DOI 10.3389/fnbot.2020.00031

Di Natali, Christian, Ali Sadeghi, Alessio Mondini, Eliza Bottenberg, Bernard Hartigan, Adam De Eyto, Leonard O’Sullivan, et al. 2020. “Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton.” Frontiers in Neurorobotics 14 (31). https://doi.org/10.3389/fnbot.2020.00031.

Di Natali, Christian, et al. “Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton.” Frontiers in Neurorobotics, vol. 14, no. 31, June 2020, https://doi.org/10.3389/fnbot.2020.00031.