Design, Control, and Assessment of a Synergy-Based Exosuit for Patients with Gait-Associated Pathologies

With ever-rising population comes a corresponding rise in people with mobility issues who have difficulty handling tasks their daily lives. Such persons could benefit significantly from an active movement assistance device. This paper presents the design of lower-limb exosuit designed to provide wearer useful gait assistance. While exoskeletons existed for while, soft or exosuits are relatively new. One challenge gait-assistance device is reduction weight. In order facilitate this, concept kinematic synergies implemented reduce number actuators. this prototype, can actuate hip, ankle, and knee both legs using just one single motor, transmission system consisting gears clutches. The implementation these advantages detailed paper, as well preliminary tests assess performance. was performed by testing worn subject on treadmill while taking EMG readings measuring cable tension produced. Significant reductions up 35% certain muscle activations were observed, demonstrating validity prototype