The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons

M.E. Grootens; E.E.G. Hekman; H. van der Kooij

doi:10.1109/BIOROB.2018.8487703

The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons

M.E. Grootens, E.E.G. Hekman, H. van der Kooij

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

Exoskeleton technology has improved significantly over the past decades, yet devices are still not user-friendly. Recently, so-called exosuits—soft wearable suits that assist walking—have been proposed, but their torques are limited.
In this paper we propose the inverted Muscle Skeleton (iMS) approach; this method allows for the design of wearable robotics that are less rigid and more lightweight than exoskeletons, but more powerful than exosuits.
We have applied our approach to the design of a low-power knee orthosis that assists knee extension. Evaluation of the prototype during one-legged squats shows that the device can successfully generate knee extension torques that reduce muscle activity in the knee extensor muscles.
The approach is promising and we believe that higher joint torques can be generated with more powerful actuators. Future work includes testing the device during walking and applying the method to the design of orthoses for other joints.

Original language	English
Title of host publication	BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
Pages	659-664
Number of pages	6
ISBN (Electronic)	9781538681831
DOIs	https://doi.org/10.1109/BIOROB.2018.8487703
Publication status	Published - 9 Oct 2018
Event	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018: High Tech Human Touch - University Campus, Enschede, Netherlands Duration: 26 Aug 2018 → 29 Aug 2018 Conference number: 7 https://www.biorob2018.org/ https://ctw-bw124.ctw.utwente.nl/roborehab/

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume	2018-August
ISSN (Print)	2155-1774

Conference

Conference	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Abbreviated title	BioRob
Country/Territory	Netherlands
City	Enschede
Period	26/08/18 → 29/08/18
Other	Workshop 5 of BIOROB 2018
Internet address	https://www.biorob2018.org/ https://ctw-bw124.ctw.utwente.nl/roborehab/

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10.1109/BIOROB.2018.8487703

biorob2018_grootens_v04_final_proceedingsFinal published version, 1.72 MB

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Grootens, M. E., Hekman, E. E. G., & van der Kooij, H. (2018). The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (pp. 659-664). Article 8487703 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2018-August). https://doi.org/10.1109/BIOROB.2018.8487703

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abstract = "Exoskeleton technology has improved significantly over the past decades, yet devices are still not user-friendly. Recently, so-called exosuits—soft wearable suits that assist walking—have been proposed, but their torques are limited.In this paper we propose the inverted Muscle Skeleton (iMS) approach; this method allows for the design of wearable robotics that are less rigid and more lightweight than exoskeletons, but more powerful than exosuits.We have applied our approach to the design of a low-power knee orthosis that assists knee extension. Evaluation of the prototype during one-legged squats shows that the device can successfully generate knee extension torques that reduce muscle activity in the knee extensor muscles.The approach is promising and we believe that higher joint torques can be generated with more powerful actuators. Future work includes testing the device during walking and applying the method to the design of orthoses for other joints.",

author = "M.E. Grootens and E.E.G. Hekman and {van der Kooij}, H.",

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doi = "10.1109/BIOROB.2018.8487703",

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Grootens, ME, Hekman, EEG & van der Kooij, H 2018, The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons. in BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics., 8487703, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2018-August, pp. 659-664, 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018, Enschede, Netherlands, 26/08/18. https://doi.org/10.1109/BIOROB.2018.8487703

The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons. / Grootens, M.E.; Hekman, E.E.G.; van der Kooij, H.
BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. 2018. p. 659-664 8487703 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2018-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - Exoskeleton technology has improved significantly over the past decades, yet devices are still not user-friendly. Recently, so-called exosuits—soft wearable suits that assist walking—have been proposed, but their torques are limited.In this paper we propose the inverted Muscle Skeleton (iMS) approach; this method allows for the design of wearable robotics that are less rigid and more lightweight than exoskeletons, but more powerful than exosuits.We have applied our approach to the design of a low-power knee orthosis that assists knee extension. Evaluation of the prototype during one-legged squats shows that the device can successfully generate knee extension torques that reduce muscle activity in the knee extensor muscles.The approach is promising and we believe that higher joint torques can be generated with more powerful actuators. Future work includes testing the device during walking and applying the method to the design of orthoses for other joints.

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Grootens ME, Hekman EEG, van der Kooij H. The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. 2018. p. 659-664. 8487703. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BIOROB.2018.8487703

The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons

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