Evaluation of Force Tracking Controller with Soft Exosuit for Hip Extension Assistance
This abstract describes the design and experimental evaluation of a force tracking controller for hip extension assistance utilizing a soft exosuit connected to a tethered off-board actuation system. The new controller aims to improve the force profile tracking capability and demonstrate its advantages over our previously reported work. The controller was evaluated by one healthy participant walking on a treadmill at 1.35 m/s. Results showed that the system can deliver a predefined force profile robustly with a 200 N peak force. The measured peak force value using force controller was 198.7 ± 2.9 N, and the root-mean-squared (RMS) error was 3.4 N (1.7 % of desired peak force). These results indicate that the force control reduces peak force variability and improves force profile tracking capability.
KeywordsForce Control Peak Force Inertial Measurement Unit Position Controller Force Profile
This material is based upon the work supported by the Defense Advanced Research Projects Agency (DARPA), Warrior Web Program (W911NF-14-C-0051). This work was also partially funded by the Wyss Institute for Biologically Inspired Engineering and the John A. Paulson School of Engineering and Applied Sciences at Harvard University.
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