Bioinspired Design and Control of BATEX, An Exosuit With Biarticular Compliant Actuators

A more human-compatible design of exosuits provides new aspects in assisting people. This study presents a novel bioinspired method to and control an exosuit support human locomotion. We introduce methodological development the BATEX as with compliant biarticular thigh actuators. By using series elastic actuator (SEA) resembling artificial muscles (AM) instead direct drive motors BATEX, we propose efficient switching for stance swing phases walking. Locking phase converts SEAs passive springs produce human-like leg swinging. is complemented by force modulated compliance (FMC) controller that uses ground reaction adjust AM's stiffness phase. utilized unassisted walking experiment data validate proposed methodology simulation study. Optimizing parameters training set subjects predicts energy consumption reduction upper (knee hip joints) than 27% at five different speeds. Finding this measure assistance level be 21% test supports generalization our approach. Further, individualization each subject shows significant improvement slow moderate Pilot assisted-walking experiments four applicability introduced concerning generalization.