Sensing and Control Strategies for a Synergy-Based, Cable-Driven Exosuit via a Modular Test Bench

Abstract

Ageing results in the eventual loss of muscle mass and strength, joint problems, and overall slowing of movements, with a greater risk of suffering falls or other such accidents. The use of gait assistance exoskeletons can help in the active aging of this segment of the population. Given the user specificity of the mechanics and control these devices need, the facility used to test different design parameters is indispensable. This work deals with the modeling and construction of a modular test bench and prototype exosuit to test different mounting and control schemes for a cable-driven exoskeleton or exosuit. The test bench allows the experimental implementation of postural or kinematic synergies to assist multiple joints by using only one actuator and the optimization of the control scheme to better adapt to the characteristics of the specific patient. The design is open to the research community and it is expected to improve the design of cable-driven systems for exosuits.

Design, Control, and Assessment of a Synergy-Based Exosuit for Patients with Gait-Associated Pathologies

“…The solid state relay board also uses those signals to engage or disengage the electromagnetic clutches, which allows the movement of the axis that provides the final actuation to the human body through synergy-based pulleys. Specific details on the design of this control board, as well as the power supply unit, that were used can be found in [20].…”

“…A total of three principal components were required to describe enough information with minimal loss. The concept of applying kinematic synergies to a lower limb exosuit to reduce the number of actuators using Bowden cables transmission was tested and verified in [20], where experiments were performed on a test bench specially designed for synergy-based actuation and control strategies.…”