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• W4200024633 abstract "This paper presents the design, fabrication, and preliminary results of a soft hip exosuit to assist hip flexion and extension during walking. The exosuit uses soft and compliant materials to create a wearable robot that has a low profile, low mass, and is highly flexible to freely move with the user’s natural range of motion. The Soft Robotic Hip Exosuit (SR-HExo) consists of flat fabric pneumatic artificial muscles (ff-PAM) that contract when pressurized. The ff-PAM actuators are oriented in an ‘X’ shape to allow for natural range of motion across the hip joint and can generate 190 N of force at 200 kPa in a 0.3 sec window. The ‘X’ configuration (X-ff-PAM) actuators were placed on the anterior and posterior sides of the hip joint with height adjustable Velcro straps. Extension assistance and flexion assistance was provided in 10-45% and 50-90% of the gait cycle, respectively. To evaluate the effectiveness of the SR-HExo with healthy participants, hip range of motion and muscle activity during walking were monitored using a motion capture system and surface electromyography sensors. The impact of the SR-HExo on the range of motion was minimal with only a 4.0 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>o</sup> reduction from the target range of motion of 30 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>o</sup> . The exosuit contributed to reducing hip muscle activity. Hip extensor muscles showed a reduction of 13.1% for the gluteus maximus and 6.6% for the biceps femoris. Hip flexor muscles showed a reduction of 10.7% for the iliacus and 27.7% for the rectus femoris." @default.
• W4200024633 created "2021-12-31" @default.
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• W4200024633 date "2021-09-27" @default.
• W4200024633 modified "2023-09-25" @default.
• W4200024633 title "A Soft Robotic Hip Exosuit (SR-HExo) to Assist Hip Flexion and Extension during Human Locomotion" @default.
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• W4200024633 doi "https://doi.org/10.1109/iros51168.2021.9636225" @default.
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