Comparison of Ankle Moment Inspired and Ankle Positive Power Inspired Controllers for a Multi - articular Soft Exosuit for Walking Assistance

Mobility can be limited due to age or impairments. Wearable robotics provide the chance to increase mobility and thus independence. A powered soft exosuit was designed that assist with both ankle plantarflexion and hip flexion through a multi-articular suit architecture. So far, the best method to reduce metabolic cost of human walking with external forces is unknown. Two basic control strategies are compared in this study: an ankle moment inspired controller (AMIC) and an ankle positive power inspired controller (APIC). Both controllers provided a similar amount of average positive exosuit power and reduced the net metabolic cost of walking by 15%. These results suggest that average positive power could be more important than assistive moment during single stance for reducing metabolic cost. Further analysis must show if one of the approaches has advantages for wearers comfort, changes in walking kinetics and kinematics, balance related biomechanics, or electrical