A Portable Soft Exosuit to Assist Stair Climbing with Hip Flexion

Soft exosuits are an emerging class of robots that have been shown to significantly reduce the metabolic cost daily human movement. However, most soft currently being studied for walking and running, relatively minor research has carried out on stair climbing. Numerous exoskeletons used climbing a more rigid structure heavier, which may result in greater force required by wearer overcome weight from exoskeleton when ascending stairs, can costs. As result, reduction structures further costs during In this paper, waist-wearable exosuit was designed assists hip flexion aid older adults, order demonstrate importance choosing assist An admittance delayed feedback control method also proposed use angular information measured IMUs enable adapt different staircases. Metabolic experiments people who average decrease 6.9% metabolism they climb stairs than those do not. The muscle fatigue demonstrated approximately 9.35%, 38.75% 9.65% rectus femoris, lateral femoris gastrocnemius muscles, respectively, compared cases without exosuit. results show assisted is reasonable approach effectively consumption fatigue.