@article {1604751,
	title = {Sensing and Control of a Multi-Joint Soft Wearable Robot for Upper-Limb Assistance and Rehabilitation},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	number = {2},
	year = {2021},
	pages = {2381-2388},
	abstract = {In the field of wearable robotics, there has been increased interest in the creation of soft wearable robots to provideassistance and rehabilitation for those with physical impairments.Compared to traditional robots, these devices have the potential tobe fully portable and lightweight, a flexibility that may allow forincreased utilization time as well as enable use outside of a clinicalenvironment. In this letter, we present a textile-based multi-jointsoft wearable robot to assist the upper limb, in particular shoulderelevation and elbow extension. Before developing a portable fluidicsupply system, we leverage an off-board actuation system for powerand control, with the worn components weighting less than halfkilogram. We showed that this robot can be mechanically transparent when powered off, not restricting users from performingmovements associated with activities of daily living. Three IMUswere placed on the torso, upper arm and forearm to measure theshoulder and elbow kinematics. We found an average RMSE of\~{}5 degrees when compared to an optical motion capture system.We implemented dynamic Gravity Compensation (GC) and JointTrajectory Tracking (JTT) controllers that actively modulatedactuator pressure in response to IMU readings. The controller performances were evaluated in a study with eight healthy individuals.Using the GC controller, subject shoulder muscle activity decreasedwith increasing magnitude of assistance and for the JTT controller,we obtained low tracking errors (mean \~{}6 degrees RMSE). Futurework will evaluate the potential of the robot to assist with activitiesin post-stroke rehabilitation.},
	url = {https://ieeexplore.ieee.org/document/9360430},
	author = {Proietti, T. and O{\textquoteright}Neill, C. and Hohimer, C. J. and Nuckols, K. and Clarke, M. E. and Zhou, Y. M. and Lin, D. J. and C. J. Walsh}
}
