@inproceedings{468df4d5bfeb4b1d9c01743770c1bf59,
title = "Design and Control of Soft Exoskeleton Based on Human Motion Intention",
abstract = "Exoskeletons have been utilized to enhance human movement capabilities; however, most of exoskeletons are typically limited by the small-range stiffness of actuators. Furthermore, these exoskeletons are not comfortable to wear due to the rigid structures. This letter proposes a soft exoskeleton with twisted string actuators to assist knee joint movement. The mechanical structure and dynamics model of the exoskeleton robotic system is introduced, where the variable-stiffness actuator with twisted strings is able to provide controllable walking assistance and improve users' comfort. In addition, the users motion intention is detected through biomedical signal, and an assist-as-need control strategy is proposed to enhance assistance efficiency. Finally, the effectiveness of the proposed exoskeleton is verified empirically. {\textcopyright} 2023 IEEE.",
keywords = "assist-as-needed control, EMG, exosuit, twisted string actuators, walking assistance",
author = "Kaizhen Huang and Jiajun Xu and Tianyi Zhang and Yonghua Lu and Linsen Xu and Youfu Li",
year = "2023",
doi = "10.1109/ICARM58088.2023.10218928",
language = "English",
isbn = "979-8-3503-0018-5",
series = "IEEE International Conference on Advanced Robotics and Mechatronics, ICARM",
publisher = "IEEE",
pages = "1047--1052",
booktitle = "2023 International Conference on Advanced Robotics and Mechatronics (ICARM)",
address = "United States",
note = "8th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2023) ; Conference date: 08-07-2023 Through 10-07-2023",
}