The inverted Muscle Skeleton approach: moving beyond rigid exoskeletons

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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 languageEnglish
    Title of host publicationBIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
    Pages659-664
    Number of pages6
    ISBN (Electronic)9781538681831
    DOIs
    Publication statusPublished - 9 Oct 2018
    Event7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    : High Tech Human Touch
    - University Campus, Enschede, Netherlands
    Duration: 26 Aug 201829 Aug 2018
    Conference number: 7
    https://www.biorob2018.org/

    Publication series

    NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
    Volume2018-August
    ISSN (Print)2155-1774

    Conference

    Conference7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    Abbreviated titleBioRob
    Country/TerritoryNetherlands
    CityEnschede
    Period26/08/1829/08/18
    Internet address

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