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Please use this identifier to cite or link to this item: https://doi.org/10.21256/zhaw-20855
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dc.contributor.authorDi Natali, Christian-
dc.contributor.authorSadeghi, Ali-
dc.contributor.authorMondini, Alessio-
dc.contributor.authorBottenberg, Eliza-
dc.contributor.authorHartigan, Bernard-
dc.contributor.authorDe Eyto, Adam-
dc.contributor.authorO'Sullivan, Leonard-
dc.contributor.authorRocon, Eduardo-
dc.contributor.authorStadler, Konrad-
dc.contributor.authorMazzolai, Barbara-
dc.contributor.authorCaldwell, Darwin G.-
dc.contributor.authorOrtiz, Jesús-
dc.date.accessioned2020-11-19T10:33:30Z-
dc.date.available2020-11-19T10:33:30Z-
dc.date.issued2020-06-30-
dc.identifier.issn1662-5218de_CH
dc.identifier.urihttps://digitalcollection.zhaw.ch/handle/11475/20855-
dc.description.abstractThere 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.de_CH
dc.language.isoende_CH
dc.publisherFrontiers Research Foundationde_CH
dc.relation.ispartofFrontiers in Neuroroboticsde_CH
dc.rightshttp://creativecommons.org/licenses/by/4.0/de_CH
dc.subjectExosuitde_CH
dc.subjectGait assistancede_CH
dc.subjectLegged locomotionde_CH
dc.subjectQuasi-passive actuationde_CH
dc.subjectRobotic wearable devicede_CH
dc.subjectSoft exoskeletonde_CH
dc.subject.ddc610: Medizin und Gesundheitde_CH
dc.subject.ddc620: Ingenieurwesende_CH
dc.titlePneumatic quasi-passive actuation for soft assistive lower limbs exoskeletonde_CH
dc.typeBeitrag in wissenschaftlicher Zeitschriftde_CH
dcterms.typeTextde_CH
zhaw.departementSchool of Engineeringde_CH
zhaw.organisationalunitInstitut für Mechatronische Systeme (IMS)de_CH
dc.identifier.doi10.3389/fnbot.2020.00031de_CH
dc.identifier.doi10.21256/zhaw-20855-
dc.identifier.pmid32714175de_CH
zhaw.funding.euinfo:eu-repo/grantAgreement/EC/H2020/688175//Soft modular biomimetic exoskeleton to assist people with mobility impairments/de_CH
zhaw.issue31de_CH
zhaw.originated.zhawYesde_CH
zhaw.publication.statuspublishedVersionde_CH
zhaw.volume14de_CH
zhaw.publication.reviewPeer review (Publikation)de_CH
zhaw.funding.zhawXoSoft – soft modular biomimetic exoskeleton to assist people with mobility impairmentsde_CH
zhaw.author.additionalNode_CH
zhaw.display.portraitYesde_CH
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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.


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