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  4. Concept of a soft exosuit for the support of leg function in rehabilitation
 
conference paper

Concept of a soft exosuit for the support of leg function in rehabilitation

Bartenbach, Volker
•
Schmidt, Kai
•
Naef, Matthias
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2015
2015 IEEE International Conference on Rehabilitation Robotics (ICORR)
2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

In the past couple of years, the concept of exosuits has emerged. These soft, robotic devices are primarily made of textiles and can be worn like clothes. They assist the user during specific motions by transmitting forces around the human joints making use of the bone structure. By definition, these systems lack rigid structures as they are used in traditional exoskeletons. Hence, exosuits are able to reduce some of the negative aspects of these devices like high mass and kinematic constraints. Thus far, exosuits have mainly been used for performance augmentation of healthy people. In this paper, we present an approach that transfers these devices to rehabilitation by setting the objective to restore mobility of people with lower limb impairments. Therefore, a suitable application scenario in rehabilitation has been identified. Based on a detailed analysis of existing gait and motion data, a concept and a passive prototype for a multiarticular, lower limb exosuit was developed. By exploiting synergies of torque and power in kinematically coupled joints, the exosuit will be able to create assistive torques in multiple joints with only one linear actuator per leg. © 2015 IEEE.

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Type
conference paper
DOI
10.1109/ICORR.2015.7281187
Author(s)
Bartenbach, Volker
Schmidt, Kai
Naef, Matthias
Wyss, Dario
Riener, Robert
Date Issued

2015

Publisher

IEEE

Published in
2015 IEEE International Conference on Rehabilitation Robotics (ICORR)
Start page

125

End page

130

Editorial or Peer reviewed

REVIEWED

Written at

OTHER

EPFL units
NCCR-ROBOTICS  
Event nameEvent placeEvent date
2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

Singapore, Singapore

11-14 August 2015

Available on Infoscience
December 17, 2015
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/121808
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