An Optimization Approach to Design Control Strategies for Soft Wearable Passive Exoskeletons

  • Andres F. Hidalgo RomeroEmail author
  • Eveline Graf
  • Eduardo Rocon
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


Soft assistive devices constitute a promising alternative to help people with mobility impairments. Nevertheless, some issues as the control of these systems preclude from their generalized usage in common daily activities. The objective of this paper is to obtain the activation profile for controlling a clutched spring to store and release energy in a way that helps the subject to achieve a specific movement target. To do this, a parameter and partially constrained optimization method has been implemented. The results obtained showed a clutch activation profile which is synchronized with a reduction of the hip flexion torque exerted by the subject. Additionally, significant computational times savings have been obtained due to important reductions of the size of the optimization problem introduced by a partitioning of the state and control vectors.



This work has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 688175 (XoSoft).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Andres F. Hidalgo Romero
    • 1
    Email author
  • Eveline Graf
    • 2
  • Eduardo Rocon
    • 1
  1. 1.Centro de Automática y Robótica (CSIC)MadridSpain
  2. 2.Institute of PhysiotherapyZHAW Zurich University of Applied SciencesWinterthurSwitzerland

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