Sensing and Control Strategies for a Synergy-Based, Cable-Driven Exosuit via a Modular Test Bench
Ashwin Jayakumar,
Daniel Rodríguez Jorge,
Javier Bermejo-García,
Rafael Agujetas,
Francisco Romero-Sánchez
Affiliations
Ashwin Jayakumar
Departamento de Ingeniería Mecánica, Energética y de los Materiales, Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas S/N, 06006 Badajoz, Spain
Daniel Rodríguez Jorge
Departamento de Ingeniería Mecánica, Energética y de los Materiales, Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas S/N, 06006 Badajoz, Spain
Javier Bermejo-García
Departamento de Ingeniería Mecánica, Energética y de los Materiales, Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas S/N, 06006 Badajoz, Spain
Rafael Agujetas
Departamento de Ingeniería Mecánica, Energética y de los Materiales, Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas S/N, 06006 Badajoz, Spain
Francisco Romero-Sánchez
Departamento de Ingeniería Mecánica, Energética y de los Materiales, Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas S/N, 06006 Badajoz, Spain
Ageing results in the eventual loss of muscle mass and strength, joint problems, and overall slowing of movements, with a greater risk of suffering falls or other such accidents. The use of gait assistance exoskeletons can help in the active aging of this segment of the population. Given the user specificity of the mechanics and control these devices need, the facility used to test different design parameters is indispensable. This work deals with the modeling and construction of a modular test bench and prototype exosuit to test different mounting and control schemes for a cable-driven exoskeleton or exosuit. The test bench allows the experimental implementation of postural or kinematic synergies to assist multiple joints by using only one actuator and the optimization of the control scheme to better adapt to the characteristics of the specific patient. The design is open to the research community and it is expected to improve the design of cable-driven systems for exosuits.
