SCIENCE CHINA Information Sciences, Volume 63 , Issue 7 : 170207(2020) https://doi.org/10.1007/s11432-019-2812-7

Development of a lower limb multi-joint assistance soft exosuit

More info
  • ReceivedAug 29, 2019
  • AcceptedJan 31, 2020
  • PublishedMay 14, 2020


There is no abstract available for this article.


This work was supported by NSFC-Shenzhen Robotics Research Center Project (Grant No. U1613219), Shenzhen Overseas Innovation and Entrepreneurship Research Program (Grant No. KQJSCX20170731164301774), Shenzhen Science and Technology Project (Grant No. JCYJ20180302145539583), Shenzhen Fundamental Research Program (Grant No. JCYJ20160429184226930), and Shenzhen Institute of Artificial Intelligence and Robotics for Society. The authors would like to thank all the volunteers participated in our experiments.


[1] Zoss A B, Kazerooni H, Chu A. Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX). IEEE/ASME Trans Mechatron, 2006, 11: 128-138 CrossRef Google Scholar

[2] Esquenazi A, Talaty M, Packel A. The ReWalk powered exoskeleton to restore ambulatory function to individuals with thoracic-level motor-complete spinal cord injury.. Am J Phys Med Rehabilitation, 2012, 91: 911-921 CrossRef PubMed Google Scholar

[3] Ding Y, Galiana I, Asbeck A, et al. Multi-joint actuation platform for lower extremity soft exosuits. In: Proceedings of IEEE International Conference on Robotics and Automation(ICRA), 2014. 1327--1334. Google Scholar

[4] Kim J, Lee G, Heimgartner R. Reducing the metabolic rate of walking and running with a versatile, portable exosuit. Science, 2019, 365: 668-672 CrossRef PubMed ADS Google Scholar

[5] Zhang J, Fiers P, Witte K A. Human-in-the-loop optimization of exoskeleton assistance during walking. Science, 2017, 356: 1280-1284 CrossRef PubMed ADS Google Scholar

[6] Lee S, Crea S, Malcolm P, et al. Controlling negative and positive power at the ankle with a soft exosuit. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2016. 3509--3515. Google Scholar

[7] Lee G, Ding Y, Bujanda I G, et al. Improved assistive profile tracking of soft exosuits for walking and jogging with off-board actuation. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. 1699--1706. Google Scholar

[8] Brockway J M. Derivation of formulae used to calculate energy expenditure in man. Human nutrition. Clinical Nutrition, 1987, 41: 463--471. Google Scholar

  • Figure 1

    (Color online) (a) The proposed exosuit with components labeled; (b) schematic of the soft exosuit system; protectłinebreak (c) block diagram of control strategy schematic; (d) metabolic testing results for walking on flat ground, uphill walking, and stair climbing.