Human-Machine Interaction with Mobility Enhancing Soft Exosuits

 We transitioned from a tethered system to a fully wearable mobile one, which is suitable for clinical applications. We designed the textile components of the exosuit to provide unilateral assistance to the paretic limb of persons poststroke during walking. The suit provides partial assistance to ankle dorsiflexion (DF) and ankle plantarflexion (PF) and encourages a more symmetric and natural gait. The results of our treadmill-based study show that the exosuit could improve interlimb propulsion symmetry and ankle kinematics of seven chronic poststroke patients. We also developed various methods to establish a standard for soft exosuit characterization and testing to improve the interface design in terms of tradeoffs between comfort, migration, and power loss. Leveraging our technological success with the exosuit, we aim to further advance this technology. The exosuit will transition from a research-oriented device to a point where it can be used for clinical applications.